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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2020-2022, University of Edinburgh, IRI: CSIC-UPC |
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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_CONSTRAINT_FACTORY_HPP_ |
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#define CROCODDYL_CONSTRAINT_FACTORY_HPP_ |
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#include "crocoddyl/core/constraint-base.hpp" |
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#include "crocoddyl/core/constraints/constraint-manager.hpp" |
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#include "crocoddyl/core/numdiff/constraint.hpp" |
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#include "crocoddyl/multibody/states/multibody.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 ConstraintModelTypes { |
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enum Type { |
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ConstraintModelResidualStateEquality, |
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ConstraintModelResidualStateInequality, |
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ConstraintModelResidualControlEquality, |
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ConstraintModelResidualControlInequality, |
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ConstraintModelResidualCoMPositionEquality, |
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ConstraintModelResidualCoMPositionInequality, |
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ConstraintModelResidualFramePlacementEquality, |
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ConstraintModelResidualFramePlacementInequality, |
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ConstraintModelResidualFrameRotationEquality, |
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ConstraintModelResidualFrameRotationInequality, |
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ConstraintModelResidualFrameTranslationEquality, |
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ConstraintModelResidualFrameTranslationInequality, |
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ConstraintModelResidualFrameVelocityEquality, |
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ConstraintModelResidualFrameVelocityInequality, |
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NbConstraintModelTypes |
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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(NbConstraintModelTypes); |
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for (int i = 0; i < NbConstraintModelTypes; ++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, ConstraintModelTypes::Type type); |
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class ConstraintModelFactory { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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explicit ConstraintModelFactory(); |
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~ConstraintModelFactory(); |
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std::shared_ptr<crocoddyl::ConstraintModelAbstract> create( |
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ConstraintModelTypes::Type constraint_type, |
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StateModelTypes::Type state_type, |
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std::size_t nu = std::numeric_limits<std::size_t>::max()) const; |
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}; |
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std::shared_ptr<crocoddyl::ConstraintModelAbstract> create_random_constraint( |
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StateModelTypes::Type state_type); |
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} // namespace unittest |
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} // namespace crocoddyl |
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#endif // CROCODDYL_COST_FACTORY_HPP_ |
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