| Directory: | ./ |
|---|---|
| File: | unittest/factory/actuation.hpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 6 | 6 | 100.0% |
| Branches: | 4 | 6 | 66.7% |
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| 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 | #ifndef CROCODDYL_ACTUATION_FACTORY_HPP_ | ||
| 10 | #define CROCODDYL_ACTUATION_FACTORY_HPP_ | ||
| 11 | |||
| 12 | #include "crocoddyl/core/actuation-base.hpp" | ||
| 13 | #include "crocoddyl/core/numdiff/actuation.hpp" | ||
| 14 | #include "state.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace unittest { | ||
| 18 | |||
| 19 | struct ActuationModelTypes { | ||
| 20 | enum Type { | ||
| 21 | ActuationModelFull, | ||
| 22 | ActuationModelFloatingBase, | ||
| 23 | ActuationModelFloatingBaseThrusters, | ||
| 24 | ActuationModelSquashingFull, | ||
| 25 | NbActuationModelTypes | ||
| 26 | }; | ||
| 27 | 22 | static std::vector<Type> init_all() { | |
| 28 | 22 | std::vector<Type> v; | |
| 29 |
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22 | v.reserve(NbActuationModelTypes); |
| 30 |
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110 | for (int i = 0; i < NbActuationModelTypes; ++i) { |
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88 | v.push_back((Type)i); |
| 32 | } | ||
| 33 | 22 | return v; | |
| 34 | } | ||
| 35 | static const std::vector<Type> all; | ||
| 36 | }; | ||
| 37 | |||
| 38 | std::ostream& operator<<(std::ostream& os, ActuationModelTypes::Type type); | ||
| 39 | |||
| 40 | class ActuationModelFactory { | ||
| 41 | public: | ||
| 42 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 43 | |||
| 44 | explicit ActuationModelFactory(); | ||
| 45 | ~ActuationModelFactory(); | ||
| 46 | |||
| 47 | std::shared_ptr<crocoddyl::ActuationModelAbstract> create( | ||
| 48 | ActuationModelTypes::Type actuation_type, | ||
| 49 | StateModelTypes::Type state_type) const; | ||
| 50 | }; | ||
| 51 | |||
| 52 | /** | ||
| 53 | * @brief Update the actuation model needed for numerical differentiation. | ||
| 54 | * We use the address of the object to avoid a copy from the | ||
| 55 | * "boost::bind". | ||
| 56 | * | ||
| 57 | * @param model[in] Pinocchio model | ||
| 58 | * @param data[out] Pinocchio data | ||
| 59 | * @param x[in] State vector | ||
| 60 | * @param u[in] Control vector | ||
| 61 | */ | ||
| 62 | template <typename Scalar> | ||
| 63 | void updateActuation( | ||
| 64 | const std::shared_ptr<crocoddyl::ActuationModelAbstractTpl<Scalar>>& model, | ||
| 65 | const std::shared_ptr<crocoddyl::ActuationDataAbstractTpl<Scalar>>& data, | ||
| 66 | const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>& x, | ||
| 67 | const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>& u); | ||
| 68 | |||
| 69 | } // namespace unittest | ||
| 70 | } // namespace crocoddyl | ||
| 71 | |||
| 72 | /* --- Details -------------------------------------------------------------- */ | ||
| 73 | /* --- Details -------------------------------------------------------------- */ | ||
| 74 | /* --- Details -------------------------------------------------------------- */ | ||
| 75 | #include "actuation.hxx" | ||
| 76 | |||
| 77 | #endif // CROCODDYL_ACTUATION_FACTORY_HPP_ | ||
| 78 |