GCC Code Coverage Report

Directory: ./
File: unittest/factory/contact_cost.cpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 85 94 90.4%
Branches: 77 152 50.7%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021-2022, University of Edinburgh, Heriot-Watt University
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #include "contact_cost.hpp"
10
11 #include "crocoddyl/core/costs/residual.hpp"
12 #include "crocoddyl/core/utils/exception.hpp"
13 #include "crocoddyl/multibody/residuals/contact-control-gravity.hpp"
14 #include "crocoddyl/multibody/residuals/contact-cop-position.hpp"
15 #include "crocoddyl/multibody/residuals/contact-force.hpp"
16 #include "crocoddyl/multibody/residuals/contact-friction-cone.hpp"
17 #include "crocoddyl/multibody/residuals/contact-wrench-cone.hpp"
18 #include "diff_action.hpp"
19
20 namespace crocoddyl {
21 namespace unittest {
22
23 const std::vector<ContactCostModelTypes::Type> ContactCostModelTypes::all(
24 ContactCostModelTypes::init_all());
25
26 48 std::ostream& operator<<(std::ostream& os, ContactCostModelTypes::Type type) {
27
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 48 switch (type) {
28 12 case ContactCostModelTypes::CostModelResidualContactForce:
29 12 os << "CostModelResidualContactForce";
30 12 break;
31 6 case ContactCostModelTypes::CostModelResidualContactCoPPosition:
32 6 os << "CostModelResidualContactCoPPosition";
33 6 break;
34 12 case ContactCostModelTypes::CostModelResidualContactFrictionCone:
35 12 os << "CostModelResidualContactFrictionCone";
36 12 break;
37 6 case ContactCostModelTypes::CostModelResidualContactWrenchCone:
38 6 os << "CostModelResidualContactWrenchCone";
39 6 break;
40 12 case ContactCostModelTypes::CostModelResidualContactControlGrav:
41 12 os << "CostModelResidualContactControlGrav";
42 12 break;
43 ✗ case ContactCostModelTypes::NbContactCostModelTypes:
44 ✗ os << "NbContactCostModelTypes";
45 ✗ break;
46 ✗ default:
47 ✗ break;
48 }
49 48 return os;
50 }
51
52 48 ContactCostModelFactory::ContactCostModelFactory() {}
53 48 ContactCostModelFactory::~ContactCostModelFactory() {}
54
55 boost::shared_ptr<crocoddyl::DifferentialActionModelAbstract>
56 48 ContactCostModelFactory::create(
57 ContactCostModelTypes::Type cost_type, PinocchioModelTypes::Type model_type,
58 ActivationModelTypes::Type activation_type,
59 ActuationModelTypes::Type actuation_type) const {
60 // Create contact action model with no cost
61 boost::shared_ptr<crocoddyl::DifferentialActionModelContactFwdDynamics>
62 48 action;
63
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 48 switch (model_type) {
64 30 case PinocchioModelTypes::Talos:
65
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 60 action = DifferentialActionModelFactory().create_contactFwdDynamics(
66 30 StateModelTypes::StateMultibody_Talos, actuation_type, false);
67 30 break;
68 18 case PinocchioModelTypes::HyQ:
69
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 36 action = DifferentialActionModelFactory().create_contactFwdDynamics(
70 18 StateModelTypes::StateMultibody_HyQ, actuation_type, false);
71 18 break;
72 ✗ default:
73 ✗ throw_pretty(__FILE__ ": Wrong PinocchioModelTypes::Type given");
74 break;
75 }
76
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 48 action->get_costs()->removeCost("state");
77
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 48 action->get_costs()->removeCost("control");
78
79 // Create cost
80 48 boost::shared_ptr<crocoddyl::CostModelAbstract> cost;
81
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 96 PinocchioModelFactory model_factory(model_type);
82 boost::shared_ptr<crocoddyl::StateMultibody> state =
83 boost::static_pointer_cast<crocoddyl::StateMultibody>(
84 96 action->get_state());
85 48 const std::size_t nu = action->get_actuation()->get_nu();
86
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 48 Eigen::Matrix3d R = Eigen::Matrix3d::Identity();
87
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 96 std::vector<std::size_t> frame_ids = model_factory.get_frame_ids();
88
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 48 switch (cost_type) {
89 12 case ContactCostModelTypes::CostModelResidualContactForce:
90
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 48 for (std::size_t i = 0; i < frame_ids.size(); ++i) {
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 72 cost = boost::make_shared<crocoddyl::CostModelResidual>(
92 state,
93
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 72 ActivationModelFactory().create(activation_type,
94 model_factory.get_contact_nc()),
95
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 72 boost::make_shared<crocoddyl::ResidualModelContactForce>(
96 36 state, frame_ids[i], pinocchio::Force::Random(),
97
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 72 model_factory.get_contact_nc(), nu));
98
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 36 action->get_costs()->addCost("cost_" + std::to_string(i), cost, 0.001);
99 }
100 12 break;
101 6 case ContactCostModelTypes::CostModelResidualContactCoPPosition:
102
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 18 for (std::size_t i = 0; i < frame_ids.size(); ++i) {
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 24 cost = boost::make_shared<crocoddyl::CostModelResidual>(
104
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 24 state, ActivationModelFactory().create(activation_type, 4),
105
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 24 boost::make_shared<crocoddyl::ResidualModelContactCoPPosition>(
106 12 state, frame_ids[i],
107
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 36 crocoddyl::CoPSupport(R, Eigen::Vector2d(0.1, 0.1)), nu));
108
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 12 action->get_costs()->addCost("cost_" + std::to_string(i), cost, 0.001);
109 }
110 6 break;
111 12 case ContactCostModelTypes::CostModelResidualContactFrictionCone:
112
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 48 for (std::size_t i = 0; i < frame_ids.size(); ++i) {
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 72 cost = boost::make_shared<crocoddyl::CostModelResidual>(
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 72 state, ActivationModelFactory().create(activation_type, 5),
115
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 72 boost::make_shared<crocoddyl::ResidualModelContactFrictionCone>(
116
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 108 state, frame_ids[i], crocoddyl::FrictionCone(R, 1.), nu));
117
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 36 action->get_costs()->addCost("cost_" + std::to_string(i), cost, 0.001);
118 }
119 12 break;
120 6 case ContactCostModelTypes::CostModelResidualContactWrenchCone:
121
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 18 for (std::size_t i = 0; i < frame_ids.size(); ++i) {
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 24 cost = boost::make_shared<crocoddyl::CostModelResidual>(
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 24 state, ActivationModelFactory().create(activation_type, 17),
124
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 24 boost::make_shared<crocoddyl::ResidualModelContactWrenchCone>(
125 12 state, frame_ids[i],
126
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 36 crocoddyl::WrenchCone(R, 1., Eigen::Vector2d(0.1, 0.1)), nu));
127
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 12 action->get_costs()->addCost("cost_" + std::to_string(i), cost, 0.001);
128 }
129 6 break;
130 12 case ContactCostModelTypes::CostModelResidualContactControlGrav:
131
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 48 for (std::size_t i = 0; i < frame_ids.size(); ++i) {
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 72 cost = boost::make_shared<crocoddyl::CostModelResidual>(
133 state,
134
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 72 ActivationModelFactory().create(activation_type, state->get_nv()),
135
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 72 boost::make_shared<crocoddyl::ResidualModelContactControlGrav>(
136 36 state, nu));
137
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 36 action->get_costs()->addCost("cost_" + std::to_string(i), cost, 0.001);
138 }
139 12 break;
140 ✗ default:
141 ✗ throw_pretty(__FILE__ ": Wrong ContactCostModelTypes::Type given");
142 break;
143 }
144 // Include the cost in the contact model
145 96 return action;
146 48 }
147
148 } // namespace unittest
149 } // namespace crocoddyl
150