GCC Code Coverage Report

Line	Branch	Exec	Source
1			///////////////////////////////////////////////////////////////////////////////
2			// BSD 3-Clause License
3			//
4			// Copyright (C) 2021, LAAS-CNRS, University of Edinburgh, University of Trento
5			// Copyright note valid unless otherwise stated in individual files.
6			// All rights reserved.
7			///////////////////////////////////////////////////////////////////////////////
8
9			#ifndef CROCODDYL_CONTROL_FACTORY_HPP_
10			#define CROCODDYL_CONTROL_FACTORY_HPP_
11
12			#include <vector>
13
14			#include "crocoddyl/core/control-base.hpp"
15			#include "crocoddyl/core/fwd.hpp"
16			#include "crocoddyl/core/utils/exception.hpp"
17
18			namespace crocoddyl {
19			namespace unittest {
20
21			struct ControlTypes {
22			enum Type { PolyZero, PolyOne, PolyTwoRK3, PolyTwoRK4, NbControlTypes };
23		23	static std::vector<Type> init_all() {
24		23	std::vector<Type> v;
25	1/2 ✓ Branch 1 taken 23 times. ✗ Branch 2 not taken.	23	v.reserve(NbControlTypes);
26	2/2 ✓ Branch 0 taken 92 times. ✓ Branch 1 taken 23 times.	115	for (int i = 0; i < NbControlTypes; ++i) {
27	1/2 ✓ Branch 1 taken 92 times. ✗ Branch 2 not taken.	92	v.push_back((Type)i);
28			}
29		23	return v;
30			}
31			static const std::vector<Type> all;
32			};
33
34			std::ostream& operator<<(std::ostream& os, ControlTypes::Type type);
35
36			class ControlFactory {
37			public:
38			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
39
40			explicit ControlFactory();
41			~ControlFactory();
42
43			boost::shared_ptr<crocoddyl::ControlParametrizationModelAbstract> create(
44			ControlTypes::Type control_type, const std::size_t nu) const;
45			};
46
47			} // namespace unittest
48			} // namespace crocoddyl
49
50			#endif // CROCODDYL_CONTROL_FACTORY_HPP_
51