| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, University of Edinburgh, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #include "actuation.hpp" | ||
| 10 | |||
| 11 | #include "crocoddyl/core/actuation/actuation-squashing.hpp" | ||
| 12 | #include "crocoddyl/core/actuation/squashing-base.hpp" | ||
| 13 | #include "crocoddyl/core/actuation/squashing/smooth-sat.hpp" | ||
| 14 | #include "crocoddyl/multibody/actuations/floating-base-thrusters.hpp" | ||
| 15 | #include "crocoddyl/multibody/actuations/floating-base.hpp" | ||
| 16 | #include "crocoddyl/multibody/actuations/full.hpp" | ||
| 17 | |||
| 18 | namespace crocoddyl { | ||
| 19 | namespace unittest { | ||
| 20 | |||
| 21 | const std::vector<ActuationModelTypes::Type> ActuationModelTypes::all( | ||
| 22 | ActuationModelTypes::init_all()); | ||
| 23 | |||
| 24 | ✗ | std::ostream& operator<<(std::ostream& os, ActuationModelTypes::Type type) { | |
| 25 | ✗ | switch (type) { | |
| 26 | ✗ | case ActuationModelTypes::ActuationModelFull: | |
| 27 | ✗ | os << "ActuationModelFull"; | |
| 28 | ✗ | break; | |
| 29 | ✗ | case ActuationModelTypes::ActuationModelFloatingBase: | |
| 30 | ✗ | os << "ActuationModelFloatingBase"; | |
| 31 | ✗ | break; | |
| 32 | ✗ | case ActuationModelTypes::ActuationModelFloatingBaseThrusters: | |
| 33 | ✗ | os << "ActuationModelFloatingBaseThrusters"; | |
| 34 | ✗ | break; | |
| 35 | ✗ | case ActuationModelTypes::ActuationModelSquashingFull: | |
| 36 | ✗ | os << "ActuationModelSquashingFull"; | |
| 37 | ✗ | break; | |
| 38 | ✗ | case ActuationModelTypes::NbActuationModelTypes: | |
| 39 | ✗ | os << "NbActuationModelTypes"; | |
| 40 | ✗ | break; | |
| 41 | ✗ | default: | |
| 42 | ✗ | break; | |
| 43 | } | ||
| 44 | ✗ | return os; | |
| 45 | } | ||
| 46 | |||
| 47 | ✗ | ActuationModelFactory::ActuationModelFactory() {} | |
| 48 | ✗ | ActuationModelFactory::~ActuationModelFactory() {} | |
| 49 | |||
| 50 | std::shared_ptr<crocoddyl::ActuationModelAbstract> | ||
| 51 | ✗ | ActuationModelFactory::create(ActuationModelTypes::Type actuation_type, | |
| 52 | StateModelTypes::Type state_type) const { | ||
| 53 | ✗ | std::shared_ptr<crocoddyl::ActuationModelAbstract> actuation; | |
| 54 | ✗ | StateModelFactory factory; | |
| 55 | ✗ | std::shared_ptr<crocoddyl::StateAbstract> state = factory.create(state_type); | |
| 56 | ✗ | std::shared_ptr<crocoddyl::StateMultibody> state_multibody; | |
| 57 | // Thruster objects | ||
| 58 | ✗ | std::vector<crocoddyl::Thruster> ps; | |
| 59 | ✗ | const double d_cog = 0.1525; | |
| 60 | ✗ | const double cf = 6.6e-5; | |
| 61 | ✗ | const double cm = 1e-6; | |
| 62 | ✗ | pinocchio::SE3 p1(Eigen::Matrix3d::Identity(), Eigen::Vector3d(d_cog, 0, 0)); | |
| 63 | ✗ | pinocchio::SE3 p2(Eigen::Matrix3d::Identity(), Eigen::Vector3d(0, d_cog, 0)); | |
| 64 | ✗ | pinocchio::SE3 p3(Eigen::Matrix3d::Identity(), Eigen::Vector3d(-d_cog, 0, 0)); | |
| 65 | ✗ | pinocchio::SE3 p4(Eigen::Matrix3d::Identity(), Eigen::Vector3d(0, -d_cog, 0)); | |
| 66 | ✗ | ps.push_back(crocoddyl::Thruster(p1, cm / cf, crocoddyl::ThrusterType::CCW)); | |
| 67 | ✗ | ps.push_back(crocoddyl::Thruster(p2, cm / cf, crocoddyl::ThrusterType::CW)); | |
| 68 | ✗ | ps.push_back(crocoddyl::Thruster(p3, cm / cf, crocoddyl::ThrusterType::CW)); | |
| 69 | ✗ | ps.push_back(crocoddyl::Thruster(p4, cm / cf, crocoddyl::ThrusterType::CCW)); | |
| 70 | // Actuation Squashing objects | ||
| 71 | ✗ | std::shared_ptr<crocoddyl::ActuationModelAbstract> act; | |
| 72 | ✗ | std::shared_ptr<crocoddyl::SquashingModelSmoothSat> squash; | |
| 73 | ✗ | Eigen::VectorXd lb; | |
| 74 | ✗ | Eigen::VectorXd ub; | |
| 75 | ✗ | switch (actuation_type) { | |
| 76 | ✗ | case ActuationModelTypes::ActuationModelFull: | |
| 77 | state_multibody = | ||
| 78 | ✗ | std::static_pointer_cast<crocoddyl::StateMultibody>(state); | |
| 79 | actuation = | ||
| 80 | ✗ | std::make_shared<crocoddyl::ActuationModelFull>(state_multibody); | |
| 81 | ✗ | break; | |
| 82 | ✗ | case ActuationModelTypes::ActuationModelFloatingBase: | |
| 83 | state_multibody = | ||
| 84 | ✗ | std::static_pointer_cast<crocoddyl::StateMultibody>(state); | |
| 85 | ✗ | actuation = std::make_shared<crocoddyl::ActuationModelFloatingBase>( | |
| 86 | ✗ | state_multibody); | |
| 87 | ✗ | break; | |
| 88 | ✗ | case ActuationModelTypes::ActuationModelFloatingBaseThrusters: | |
| 89 | state_multibody = | ||
| 90 | ✗ | std::static_pointer_cast<crocoddyl::StateMultibody>(state); | |
| 91 | actuation = | ||
| 92 | ✗ | std::make_shared<crocoddyl::ActuationModelFloatingBaseThrusters>( | |
| 93 | ✗ | state_multibody, ps); | |
| 94 | ✗ | break; | |
| 95 | ✗ | case ActuationModelTypes::ActuationModelSquashingFull: | |
| 96 | state_multibody = | ||
| 97 | ✗ | std::static_pointer_cast<crocoddyl::StateMultibody>(state); | |
| 98 | |||
| 99 | ✗ | act = std::make_shared<crocoddyl::ActuationModelFull>(state_multibody); | |
| 100 | |||
| 101 | ✗ | lb = Eigen::VectorXd::Zero(state->get_nv()); | |
| 102 | ✗ | ub = Eigen::VectorXd::Zero(state->get_nv()); | |
| 103 | ✗ | lb.fill(-100.0); | |
| 104 | ✗ | ub.fill(100.0); | |
| 105 | ✗ | squash = std::make_shared<crocoddyl::SquashingModelSmoothSat>( | |
| 106 | ✗ | lb, ub, state->get_nv()); | |
| 107 | |||
| 108 | ✗ | actuation = std::make_shared<crocoddyl::ActuationSquashingModel>( | |
| 109 | ✗ | act, squash, state->get_nv()); | |
| 110 | ✗ | break; | |
| 111 | ✗ | default: | |
| 112 | ✗ | throw_pretty(__FILE__ ":\n Construct wrong ActuationModelTypes::Type"); | |
| 113 | break; | ||
| 114 | } | ||
| 115 | ✗ | return actuation; | |
| 116 | ✗ | } | |
| 117 | |||
| 118 | } // namespace unittest | ||
| 119 | } // namespace crocoddyl | ||
| 120 |