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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, University of Edinburgh, Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef CROCODDYL_ACTUATION_FACTORY_HPP_ |
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#define CROCODDYL_ACTUATION_FACTORY_HPP_ |
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#include "crocoddyl/core/actuation-base.hpp" |
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#include "crocoddyl/core/numdiff/actuation.hpp" |
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#include "state.hpp" |
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namespace crocoddyl { |
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namespace unittest { |
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struct ActuationModelTypes { |
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enum Type { |
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ActuationModelFull, |
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ActuationModelFloatingBase, |
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ActuationModelFloatingBaseThrusters, |
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ActuationModelSquashingFull, |
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NbActuationModelTypes |
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}; |
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static std::vector<Type> init_all() { |
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std::vector<Type> v; |
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v.reserve(NbActuationModelTypes); |
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for (int i = 0; i < NbActuationModelTypes; ++i) { |
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v.push_back((Type)i); |
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} |
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return v; |
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} |
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static const std::vector<Type> all; |
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}; |
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std::ostream& operator<<(std::ostream& os, ActuationModelTypes::Type type); |
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class ActuationModelFactory { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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explicit ActuationModelFactory(); |
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~ActuationModelFactory(); |
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std::shared_ptr<crocoddyl::ActuationModelAbstract> create( |
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ActuationModelTypes::Type actuation_type, |
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StateModelTypes::Type state_type) const; |
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}; |
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/** |
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* @brief Update the actuation model needed for numerical differentiation. |
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* We use the address of the object to avoid a copy from the |
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* "boost::bind". |
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* |
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* @param model[in] Pinocchio model |
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* @param data[out] Pinocchio data |
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* @param x[in] State vector |
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* @param u[in] Control vector |
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*/ |
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template <typename Scalar> |
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void updateActuation( |
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const std::shared_ptr<crocoddyl::ActuationModelAbstractTpl<Scalar>>& model, |
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const std::shared_ptr<crocoddyl::ActuationDataAbstractTpl<Scalar>>& data, |
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const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>& x, |
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const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>& u); |
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} // namespace unittest |
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} // namespace crocoddyl |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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#include "actuation.hxx" |
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#endif // CROCODDYL_ACTUATION_FACTORY_HPP_ |
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