| Directory: | ./ |
|---|---|
| File: | unittest/factory/control.cpp |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 36 | 43 | 83.7% |
| Branches: | 12 | 27 | 44.4% |
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| 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 | #include "crocoddyl/core/utils/exception.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | namespace unittest { | ||
| 18 | |||
| 19 | const std::vector<ControlTypes::Type> ControlTypes::all( | ||
| 20 | ControlTypes::init_all()); | ||
| 21 | |||
| 22 | 303 | std::ostream& operator<<(std::ostream& os, ControlTypes::Type type) { | |
| 23 |
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303 | switch (type) { |
| 24 | 116 | case ControlTypes::PolyZero: | |
| 25 | 116 | os << "PolyZero"; | |
| 26 | 116 | break; | |
| 27 | 116 | case ControlTypes::PolyOne: | |
| 28 | 116 | os << "PolyOne"; | |
| 29 | 116 | break; | |
| 30 | 24 | case ControlTypes::PolyTwoRK3: | |
| 31 | 24 | os << "PolyTwoRK3"; | |
| 32 | 24 | break; | |
| 33 | 47 | case ControlTypes::PolyTwoRK4: | |
| 34 | 47 | os << "PolyTwoRK4"; | |
| 35 | 47 | break; | |
| 36 | ✗ | case ControlTypes::NbControlTypes: | |
| 37 | ✗ | os << "NbControlTypes"; | |
| 38 | ✗ | break; | |
| 39 | ✗ | default: | |
| 40 | ✗ | break; | |
| 41 | } | ||
| 42 | 303 | return os; | |
| 43 | } | ||
| 44 | |||
| 45 | 679 | ControlFactory::ControlFactory() {} | |
| 46 | 679 | ControlFactory::~ControlFactory() {} | |
| 47 | |||
| 48 | boost::shared_ptr<crocoddyl::ControlParametrizationModelAbstract> | ||
| 49 | 725 | ControlFactory::create(ControlTypes::Type control_type, | |
| 50 | const std::size_t nu) const { | ||
| 51 | 725 | boost::shared_ptr<crocoddyl::ControlParametrizationModelAbstract> control; | |
| 52 |
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725 | switch (control_type) { |
| 53 | 302 | case ControlTypes::PolyZero: | |
| 54 | control = | ||
| 55 |
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604 | boost::make_shared<crocoddyl::ControlParametrizationModelPolyZero>( |
| 56 | 302 | nu); | |
| 57 | 302 | break; | |
| 58 | 256 | case ControlTypes::PolyOne: | |
| 59 | control = | ||
| 60 |
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256 | boost::make_shared<crocoddyl::ControlParametrizationModelPolyOne>(nu); |
| 61 | 256 | break; | |
| 62 | 72 | case ControlTypes::PolyTwoRK3: | |
| 63 | control = | ||
| 64 | 72 | boost::make_shared<crocoddyl::ControlParametrizationModelPolyTwoRK>( | |
| 65 |
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72 | nu, RKType::three); |
| 66 | 72 | break; | |
| 67 | 95 | case ControlTypes::PolyTwoRK4: | |
| 68 | control = | ||
| 69 | 95 | boost::make_shared<crocoddyl::ControlParametrizationModelPolyTwoRK>( | |
| 70 |
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95 | nu, RKType::four); |
| 71 | 95 | break; | |
| 72 | ✗ | default: | |
| 73 | ✗ | throw_pretty(__FILE__ ": Wrong ControlTypes::Type given"); | |
| 74 | break; | ||
| 75 | } | ||
| 76 | 725 | return control; | |
| 77 | } | ||
| 78 | |||
| 79 | } // namespace unittest | ||
| 80 | } // namespace crocoddyl | ||
| 81 |