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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2023, University of Edinburgh, Heriot-Watt University |
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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_CONTACTS_FACTORY_HPP_ |
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#define CROCODDYL_CONTACTS_FACTORY_HPP_ |
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#include "crocoddyl/multibody/contact-base.hpp" |
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#include "crocoddyl/multibody/contacts/multiple-contacts.hpp" |
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#include "crocoddyl/multibody/numdiff/contact.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 ContactModelTypes { |
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enum Type { |
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ContactModel1D_LOCAL, |
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ContactModel1D_WORLD, |
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ContactModel1D_LWA, |
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ContactModel2D, |
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ContactModel3D_LOCAL, |
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ContactModel3D_WORLD, |
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ContactModel3D_LWA, |
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ContactModel6D_LOCAL, |
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ContactModel6D_WORLD, |
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ContactModel6D_LWA, |
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NbContactModelTypes |
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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(NbContactModelTypes); |
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for (int i = 0; i < NbContactModelTypes; ++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, const ContactModelTypes::Type& type); |
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class ContactModelFactory { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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explicit ContactModelFactory(); |
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~ContactModelFactory(); |
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std::shared_ptr<crocoddyl::ContactModelAbstract> create( |
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ContactModelTypes::Type contact_type, |
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PinocchioModelTypes::Type model_type, Eigen::Vector2d gains, |
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const std::string frame_name = std::string(""), |
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const std::size_t nu = std::numeric_limits<std::size_t>::max()) const; |
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}; |
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std::shared_ptr<crocoddyl::ContactModelAbstract> create_random_contact(); |
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} // namespace unittest |
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} // namespace crocoddyl |
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#endif // CROCODDYL_CONTACTS_FACTORY_HPP_ |
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