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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2022, LAAS-CNRS, 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_COST_FACTORY_HPP_ |
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#define CROCODDYL_COST_FACTORY_HPP_ |
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#include "activation.hpp" |
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#include "crocoddyl/core/cost-base.hpp" |
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#include "crocoddyl/core/costs/cost-sum.hpp" |
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#include "crocoddyl/core/numdiff/cost.hpp" |
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#include "crocoddyl/multibody/states/multibody.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 CostModelTypes { |
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enum Type { |
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CostModelResidualState, |
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CostModelResidualControl, |
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CostModelResidualCoMPosition, |
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// CostModelResidualCentroidalMomentum, // @todo Figure out the pinocchio |
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// callbacks. |
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CostModelResidualFramePlacement, |
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CostModelResidualFrameRotation, |
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CostModelResidualFrameTranslation, |
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CostModelResidualFrameVelocity, |
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NbCostModelTypes |
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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(NbCostModelTypes); |
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for (int i = 0; i < NbCostModelTypes; ++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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struct CostModelNoFFTypes { |
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enum Type { CostModelResidualControlGrav, NbCostModelNoFFTypes }; |
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static std::vector<Type> init_all() { |
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std::vector<Type> v; |
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v.clear(); |
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for (int i = 0; i < NbCostModelNoFFTypes; ++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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#ifdef PINOCCHIO_WITH_HPP_FCL |
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struct CostModelCollisionTypes { |
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enum Type { CostModelResidualPairCollision, NbCostModelCollisionTypes }; |
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static std::vector<Type> init_all() { |
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std::vector<Type> v; |
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v.clear(); |
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for (int i = 0; i < NbCostModelCollisionTypes; ++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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#endif // PINOCCHIO_WITH_HPP_FCL |
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std::ostream& operator<<(std::ostream& os, CostModelTypes::Type type); |
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std::ostream& operator<<(std::ostream& os, CostModelNoFFTypes::Type type); |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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std::ostream& operator<<(std::ostream& os, CostModelCollisionTypes::Type type); |
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#endif // PINOCCHIO_WITH_HPP_FCL |
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class CostModelFactory { |
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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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typedef typename MathBase::Vector6s Vector6d; |
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typedef pinocchio::GeometryObject::CollisionGeometryPtr CollisionGeometryPtr; |
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explicit CostModelFactory(); |
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~CostModelFactory(); |
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std::shared_ptr<crocoddyl::CostModelAbstract> create( |
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CostModelTypes::Type cost_type, StateModelTypes::Type state_type, |
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ActivationModelTypes::Type activation_type, |
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std::size_t nu = std::numeric_limits<std::size_t>::max()) const; |
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std::shared_ptr<crocoddyl::CostModelAbstract> create( |
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CostModelNoFFTypes::Type cost_type, |
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ActivationModelTypes::Type activation_type, |
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std::size_t nu = std::numeric_limits<std::size_t>::max()) const; |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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std::shared_ptr<crocoddyl::CostModelAbstract> create( |
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CostModelCollisionTypes::Type cost_type, StateModelTypes::Type state_type, |
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std::size_t nu = std::numeric_limits<std::size_t>::max()) const; |
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#endif // PINOCCHIO_WITH_HPP_FCL |
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}; |
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std::shared_ptr<crocoddyl::CostModelAbstract> create_random_cost( |
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StateModelTypes::Type state_type, |
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std::size_t nu = std::numeric_limits<std::size_t>::max()); |
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} // namespace unittest |
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} // namespace crocoddyl |
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#endif // CROCODDYL_COST_FACTORY_HPP_ |
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