| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2023, 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_CONTACTS_FACTORY_HPP_ | ||
| 10 | #define CROCODDYL_CONTACTS_FACTORY_HPP_ | ||
| 11 | |||
| 12 | #include "crocoddyl/multibody/contact-base.hpp" | ||
| 13 | #include "crocoddyl/multibody/contacts/multiple-contacts.hpp" | ||
| 14 | #include "crocoddyl/multibody/numdiff/contact.hpp" | ||
| 15 | #include "state.hpp" | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | namespace unittest { | ||
| 19 | |||
| 20 | struct ContactModelTypes { | ||
| 21 | enum Type { | ||
| 22 | ContactModel1D_LOCAL, | ||
| 23 | ContactModel1D_WORLD, | ||
| 24 | ContactModel1D_LWA, | ||
| 25 | ContactModel2D, | ||
| 26 | ContactModel3D_LOCAL, | ||
| 27 | ContactModel3D_WORLD, | ||
| 28 | ContactModel3D_LWA, | ||
| 29 | ContactModel6D_LOCAL, | ||
| 30 | ContactModel6D_WORLD, | ||
| 31 | ContactModel6D_LWA, | ||
| 32 | NbContactModelTypes | ||
| 33 | }; | ||
| 34 | ✗ | static std::vector<Type> init_all() { | |
| 35 | ✗ | std::vector<Type> v; | |
| 36 | ✗ | v.reserve(NbContactModelTypes); | |
| 37 | ✗ | for (int i = 0; i < NbContactModelTypes; ++i) { | |
| 38 | ✗ | v.push_back((Type)i); | |
| 39 | } | ||
| 40 | ✗ | return v; | |
| 41 | ✗ | } | |
| 42 | static const std::vector<Type> all; | ||
| 43 | }; | ||
| 44 | |||
| 45 | std::ostream& operator<<(std::ostream& os, const ContactModelTypes::Type& type); | ||
| 46 | |||
| 47 | class ContactModelFactory { | ||
| 48 | public: | ||
| 49 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 50 | |||
| 51 | explicit ContactModelFactory(); | ||
| 52 | ~ContactModelFactory(); | ||
| 53 | |||
| 54 | std::shared_ptr<crocoddyl::ContactModelAbstract> create( | ||
| 55 | ContactModelTypes::Type contact_type, | ||
| 56 | PinocchioModelTypes::Type model_type, Eigen::Vector2d gains, | ||
| 57 | const std::string frame_name = std::string(""), | ||
| 58 | const std::size_t nu = std::numeric_limits<std::size_t>::max()) const; | ||
| 59 | }; | ||
| 60 | |||
| 61 | std::shared_ptr<crocoddyl::ContactModelAbstract> create_random_contact(); | ||
| 62 | |||
| 63 | } // namespace unittest | ||
| 64 | } // namespace crocoddyl | ||
| 65 | |||
| 66 | #endif // CROCODDYL_CONTACTS_FACTORY_HPP_ | ||
| 67 |