| Directory: | ./ |
|---|---|
| File: | unittest/factory/control.hpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 6 | 6 | 100.0% |
| Branches: | 4 | 6 | 66.7% |
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| 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 | |||
| 17 | namespace crocoddyl { | ||
| 18 | namespace unittest { | ||
| 19 | |||
| 20 | struct ControlTypes { | ||
| 21 | enum Type { PolyZero, PolyOne, PolyTwoRK3, PolyTwoRK4, NbControlTypes }; | ||
| 22 | 22 | static std::vector<Type> init_all() { | |
| 23 | 22 | std::vector<Type> v; | |
| 24 |
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22 | v.reserve(NbControlTypes); |
| 25 |
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110 | for (int i = 0; i < NbControlTypes; ++i) { |
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88 | v.push_back((Type)i); |
| 27 | } | ||
| 28 | 22 | return v; | |
| 29 | } | ||
| 30 | static const std::vector<Type> all; | ||
| 31 | }; | ||
| 32 | |||
| 33 | std::ostream& operator<<(std::ostream& os, ControlTypes::Type type); | ||
| 34 | |||
| 35 | class ControlFactory { | ||
| 36 | public: | ||
| 37 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 38 | |||
| 39 | explicit ControlFactory(); | ||
| 40 | ~ControlFactory(); | ||
| 41 | |||
| 42 | std::shared_ptr<crocoddyl::ControlParametrizationModelAbstract> create( | ||
| 43 | ControlTypes::Type control_type, const std::size_t nu) const; | ||
| 44 | }; | ||
| 45 | |||
| 46 | } // namespace unittest | ||
| 47 | } // namespace crocoddyl | ||
| 48 | |||
| 49 | #endif // CROCODDYL_CONTROL_FACTORY_HPP_ | ||
| 50 |