| Directory: | ./ |
|---|---|
| File: | unittest/factory/contact.hpp |
| Date: | 2025-01-16 08:47:40 |
| Exec | Total | Coverage | |
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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) 2019-2023, 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 <iostream> | ||
| 13 | #include <limits> | ||
| 14 | |||
| 15 | #include "crocoddyl/multibody/contact-base.hpp" | ||
| 16 | #include "crocoddyl/multibody/contacts/multiple-contacts.hpp" | ||
| 17 | #include "crocoddyl/multibody/numdiff/contact.hpp" | ||
| 18 | #include "state.hpp" | ||
| 19 | |||
| 20 | namespace crocoddyl { | ||
| 21 | namespace unittest { | ||
| 22 | |||
| 23 | struct ContactModelTypes { | ||
| 24 | enum Type { | ||
| 25 | ContactModel1D_LOCAL, | ||
| 26 | ContactModel1D_WORLD, | ||
| 27 | ContactModel1D_LWA, | ||
| 28 | ContactModel2D, | ||
| 29 | ContactModel3D_LOCAL, | ||
| 30 | ContactModel3D_WORLD, | ||
| 31 | ContactModel3D_LWA, | ||
| 32 | ContactModel6D_LOCAL, | ||
| 33 | ContactModel6D_WORLD, | ||
| 34 | ContactModel6D_LWA, | ||
| 35 | NbContactModelTypes | ||
| 36 | }; | ||
| 37 | 23 | static std::vector<Type> init_all() { | |
| 38 | 23 | std::vector<Type> v; | |
| 39 |
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23 | v.reserve(NbContactModelTypes); |
| 40 |
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253 | for (int i = 0; i < NbContactModelTypes; ++i) { |
| 41 |
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230 | v.push_back((Type)i); |
| 42 | } | ||
| 43 | 23 | return v; | |
| 44 | } | ||
| 45 | static const std::vector<Type> all; | ||
| 46 | }; | ||
| 47 | |||
| 48 | std::ostream& operator<<(std::ostream& os, const ContactModelTypes::Type& type); | ||
| 49 | |||
| 50 | class ContactModelFactory { | ||
| 51 | public: | ||
| 52 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 53 | |||
| 54 | explicit ContactModelFactory(); | ||
| 55 | ~ContactModelFactory(); | ||
| 56 | |||
| 57 | boost::shared_ptr<crocoddyl::ContactModelAbstract> create( | ||
| 58 | ContactModelTypes::Type contact_type, | ||
| 59 | PinocchioModelTypes::Type model_type, Eigen::Vector2d gains, | ||
| 60 | const std::string frame_name = std::string(""), | ||
| 61 | const std::size_t nu = std::numeric_limits<std::size_t>::max()) const; | ||
| 62 | }; | ||
| 63 | |||
| 64 | boost::shared_ptr<crocoddyl::ContactModelAbstract> create_random_contact(); | ||
| 65 | |||
| 66 | } // namespace unittest | ||
| 67 | } // namespace crocoddyl | ||
| 68 | |||
| 69 | #endif // CROCODDYL_CONTACTS_FACTORY_HPP_ | ||
| 70 |