| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 2 |
|
|
// BSD 3-Clause License |
| 3 |
|
|
// |
| 4 |
|
|
// Copyright (C) 2021, University of Edinburgh, University of Trento |
| 5 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
| 6 |
|
|
// All rights reserved. |
| 7 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 8 |
|
|
|
| 9 |
|
|
#include "control.hpp" |
| 10 |
|
|
|
| 11 |
|
|
#include "crocoddyl/core/controls/poly-one.hpp" |
| 12 |
|
|
#include "crocoddyl/core/controls/poly-two-rk.hpp" |
| 13 |
|
|
#include "crocoddyl/core/controls/poly-zero.hpp" |
| 14 |
|
|
|
| 15 |
|
|
namespace crocoddyl { |
| 16 |
|
|
namespace unittest { |
| 17 |
|
|
|
| 18 |
|
|
const std::vector<ControlTypes::Type> ControlTypes::all( |
| 19 |
|
|
ControlTypes::init_all()); |
| 20 |
|
|
|
| 21 |
|
✗ |
std::ostream& operator<<(std::ostream& os, ControlTypes::Type type) { |
| 22 |
|
✗ |
switch (type) { |
| 23 |
|
✗ |
case ControlTypes::PolyZero: |
| 24 |
|
✗ |
os << "PolyZero"; |
| 25 |
|
✗ |
break; |
| 26 |
|
✗ |
case ControlTypes::PolyOne: |
| 27 |
|
✗ |
os << "PolyOne"; |
| 28 |
|
✗ |
break; |
| 29 |
|
✗ |
case ControlTypes::PolyTwoRK3: |
| 30 |
|
✗ |
os << "PolyTwoRK3"; |
| 31 |
|
✗ |
break; |
| 32 |
|
✗ |
case ControlTypes::PolyTwoRK4: |
| 33 |
|
✗ |
os << "PolyTwoRK4"; |
| 34 |
|
✗ |
break; |
| 35 |
|
✗ |
case ControlTypes::NbControlTypes: |
| 36 |
|
✗ |
os << "NbControlTypes"; |
| 37 |
|
✗ |
break; |
| 38 |
|
✗ |
default: |
| 39 |
|
✗ |
break; |
| 40 |
|
|
} |
| 41 |
|
✗ |
return os; |
| 42 |
|
|
} |
| 43 |
|
|
|
| 44 |
|
✗ |
ControlFactory::ControlFactory() {} |
| 45 |
|
✗ |
ControlFactory::~ControlFactory() {} |
| 46 |
|
|
|
| 47 |
|
|
std::shared_ptr<crocoddyl::ControlParametrizationModelAbstract> |
| 48 |
|
✗ |
ControlFactory::create(ControlTypes::Type control_type, |
| 49 |
|
|
const std::size_t nu) const { |
| 50 |
|
✗ |
std::shared_ptr<crocoddyl::ControlParametrizationModelAbstract> control; |
| 51 |
|
✗ |
switch (control_type) { |
| 52 |
|
✗ |
case ControlTypes::PolyZero: |
| 53 |
|
|
control = |
| 54 |
|
✗ |
std::make_shared<crocoddyl::ControlParametrizationModelPolyZero>(nu); |
| 55 |
|
✗ |
break; |
| 56 |
|
✗ |
case ControlTypes::PolyOne: |
| 57 |
|
|
control = |
| 58 |
|
✗ |
std::make_shared<crocoddyl::ControlParametrizationModelPolyOne>(nu); |
| 59 |
|
✗ |
break; |
| 60 |
|
✗ |
case ControlTypes::PolyTwoRK3: |
| 61 |
|
|
control = |
| 62 |
|
✗ |
std::make_shared<crocoddyl::ControlParametrizationModelPolyTwoRK>( |
| 63 |
|
✗ |
nu, RKType::three); |
| 64 |
|
✗ |
break; |
| 65 |
|
✗ |
case ControlTypes::PolyTwoRK4: |
| 66 |
|
|
control = |
| 67 |
|
✗ |
std::make_shared<crocoddyl::ControlParametrizationModelPolyTwoRK>( |
| 68 |
|
✗ |
nu, RKType::four); |
| 69 |
|
✗ |
break; |
| 70 |
|
✗ |
default: |
| 71 |
|
✗ |
throw_pretty(__FILE__ ": Wrong ControlTypes::Type given"); |
| 72 |
|
|
break; |
| 73 |
|
|
} |
| 74 |
|
✗ |
return control; |
| 75 |
|
|
} |
| 76 |
|
|
|
| 77 |
|
|
} // namespace unittest |
| 78 |
|
|
} // namespace crocoddyl |
| 79 |
|
|
|