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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021, University of Edinburgh |
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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_CONTACT_CONSTRAINT_FACTORY_HPP_ |
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#define CROCODDYL_CONTACT_CONSTRAINT_FACTORY_HPP_ |
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#include "activation.hpp" |
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#include "actuation.hpp" |
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#include "crocoddyl/core/diff-action-base.hpp" |
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#include "crocoddyl/core/numdiff/diff-action.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 ContactConstraintModelTypes { |
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enum Type { |
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ConstraintModelResidualContactForceEquality, |
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ConstraintModelResidualContactCoPPositionInequality, |
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ConstraintModelResidualContactFrictionConeInequality, |
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ConstraintModelResidualContactWrenchConeInequality, |
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ConstraintModelResidualContactControlGravInequality, |
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NbContactConstraintModelTypes |
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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(NbContactConstraintModelTypes); |
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for (int i = 0; i < NbContactConstraintModelTypes; ++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, |
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ContactConstraintModelTypes::Type type); |
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class ContactConstraintModelFactory { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef crocoddyl::MathBaseTpl<double> MathBase; |
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explicit ContactConstraintModelFactory(); |
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~ContactConstraintModelFactory(); |
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std::shared_ptr<crocoddyl::DifferentialActionModelAbstract> create( |
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ContactConstraintModelTypes::Type constraint_type, |
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PinocchioModelTypes::Type model_type, |
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ActuationModelTypes::Type actuation_type) const; |
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}; |
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} // namespace unittest |
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} // namespace crocoddyl |
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#endif // CROCODDYL_CONTACT_CONSTRAINT_FACTORY_HPP_ |
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