| Directory: | ./ |
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| File: | unittest/factory/constraint.hpp |
| Date: | 2025-01-30 11:01:55 |
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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) 2020-2022, University of Edinburgh, IRI: CSIC-UPC | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_CONSTRAINT_FACTORY_HPP_ | ||
| 10 | #define CROCODDYL_CONSTRAINT_FACTORY_HPP_ | ||
| 11 | |||
| 12 | #include "crocoddyl/core/constraint-base.hpp" | ||
| 13 | #include "crocoddyl/core/constraints/constraint-manager.hpp" | ||
| 14 | #include "crocoddyl/core/numdiff/constraint.hpp" | ||
| 15 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 16 | #include "state.hpp" | ||
| 17 | |||
| 18 | namespace crocoddyl { | ||
| 19 | namespace unittest { | ||
| 20 | |||
| 21 | struct ConstraintModelTypes { | ||
| 22 | enum Type { | ||
| 23 | ConstraintModelResidualStateEquality, | ||
| 24 | ConstraintModelResidualStateInequality, | ||
| 25 | ConstraintModelResidualControlEquality, | ||
| 26 | ConstraintModelResidualControlInequality, | ||
| 27 | ConstraintModelResidualCoMPositionEquality, | ||
| 28 | ConstraintModelResidualCoMPositionInequality, | ||
| 29 | ConstraintModelResidualFramePlacementEquality, | ||
| 30 | ConstraintModelResidualFramePlacementInequality, | ||
| 31 | ConstraintModelResidualFrameRotationEquality, | ||
| 32 | ConstraintModelResidualFrameRotationInequality, | ||
| 33 | ConstraintModelResidualFrameTranslationEquality, | ||
| 34 | ConstraintModelResidualFrameTranslationInequality, | ||
| 35 | ConstraintModelResidualFrameVelocityEquality, | ||
| 36 | ConstraintModelResidualFrameVelocityInequality, | ||
| 37 | NbConstraintModelTypes | ||
| 38 | }; | ||
| 39 | 23 | static std::vector<Type> init_all() { | |
| 40 | 23 | std::vector<Type> v; | |
| 41 |
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23 | v.reserve(NbConstraintModelTypes); |
| 42 |
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345 | for (int i = 0; i < NbConstraintModelTypes; ++i) { |
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322 | v.push_back((Type)i); |
| 44 | } | ||
| 45 | 23 | return v; | |
| 46 | } | ||
| 47 | static const std::vector<Type> all; | ||
| 48 | }; | ||
| 49 | |||
| 50 | std::ostream& operator<<(std::ostream& os, ConstraintModelTypes::Type type); | ||
| 51 | |||
| 52 | class ConstraintModelFactory { | ||
| 53 | public: | ||
| 54 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 55 | |||
| 56 | explicit ConstraintModelFactory(); | ||
| 57 | ~ConstraintModelFactory(); | ||
| 58 | |||
| 59 | std::shared_ptr<crocoddyl::ConstraintModelAbstract> create( | ||
| 60 | ConstraintModelTypes::Type constraint_type, | ||
| 61 | StateModelTypes::Type state_type, | ||
| 62 | std::size_t nu = std::numeric_limits<std::size_t>::max()) const; | ||
| 63 | }; | ||
| 64 | |||
| 65 | std::shared_ptr<crocoddyl::ConstraintModelAbstract> create_random_constraint( | ||
| 66 | StateModelTypes::Type state_type); | ||
| 67 | |||
| 68 | } // namespace unittest | ||
| 69 | } // namespace crocoddyl | ||
| 70 | |||
| 71 | #endif // CROCODDYL_COST_FACTORY_HPP_ | ||
| 72 |