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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_COST_FACTORY_HPP_ |
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#define CROCODDYL_CONTACT_COST_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 ContactCostModelTypes { |
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enum Type { |
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CostModelResidualContactForce, |
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CostModelResidualContactCoPPosition, |
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CostModelResidualContactFrictionCone, |
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CostModelResidualContactWrenchCone, |
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CostModelResidualContactControlGrav, |
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NbContactCostModelTypes |
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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(NbContactCostModelTypes); |
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for (int i = 0; i < NbContactCostModelTypes; ++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, ContactCostModelTypes::Type type); |
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class ContactCostModelFactory { |
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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 ContactCostModelFactory(); |
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~ContactCostModelFactory(); |
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std::shared_ptr<crocoddyl::DifferentialActionModelAbstract> create( |
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ContactCostModelTypes::Type cost_type, |
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PinocchioModelTypes::Type model_type, |
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ActivationModelTypes::Type activation_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_COST_FACTORY_HPP_ |
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