GCC Code Coverage Report

Directory: ./
File: unittest/factory/cost.hpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 18 18 100.0%
Branches: 10 14 71.4%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2022, LAAS-CNRS, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #ifndef CROCODDYL_COST_FACTORY_HPP_
10 #define CROCODDYL_COST_FACTORY_HPP_
11
12 #include "activation.hpp"
13 #include "crocoddyl/core/cost-base.hpp"
14 #include "crocoddyl/core/costs/cost-sum.hpp"
15 #include "crocoddyl/core/numdiff/cost.hpp"
16 #include "crocoddyl/multibody/states/multibody.hpp"
17 #include "state.hpp"
18
19 namespace crocoddyl {
20 namespace unittest {
21
22 struct CostModelTypes {
23 enum Type {
24 CostModelResidualState,
25 CostModelResidualControl,
26 CostModelResidualCoMPosition,
27 // CostModelResidualCentroidalMomentum, // @todo Figure out the pinocchio
28 // callbacks.
29 CostModelResidualFramePlacement,
30 CostModelResidualFrameRotation,
31 CostModelResidualFrameTranslation,
32 CostModelResidualFrameVelocity,
33 NbCostModelTypes
34 };
35 23 static std::vector<Type> init_all() {
36 23 std::vector<Type> v;
37
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 23 v.reserve(NbCostModelTypes);
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 184 for (int i = 0; i < NbCostModelTypes; ++i) {
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 161 v.push_back((Type)i);
40 }
41 23 return v;
42 }
43 static const std::vector<Type> all;
44 };
45
46 struct CostModelNoFFTypes {
47 enum Type { CostModelResidualControlGrav, NbCostModelNoFFTypes };
48 23 static std::vector<Type> init_all() {
49 23 std::vector<Type> v;
50 23 v.clear();
51
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 46 for (int i = 0; i < NbCostModelNoFFTypes; ++i) {
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 23 v.push_back((Type)i);
53 }
54 23 return v;
55 }
56 static const std::vector<Type> all;
57 };
58
59 #ifdef PINOCCHIO_WITH_HPP_FCL
60 struct CostModelCollisionTypes {
61 enum Type { CostModelResidualPairCollision, NbCostModelCollisionTypes };
62 23 static std::vector<Type> init_all() {
63 23 std::vector<Type> v;
64 23 v.clear();
65
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 46 for (int i = 0; i < NbCostModelCollisionTypes; ++i) {
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 23 v.push_back((Type)i);
67 }
68 23 return v;
69 }
70 static const std::vector<Type> all;
71 };
72 #endif // PINOCCHIO_WITH_HPP_FCL
73
74 std::ostream& operator<<(std::ostream& os, CostModelTypes::Type type);
75 std::ostream& operator<<(std::ostream& os, CostModelNoFFTypes::Type type);
76 #ifdef PINOCCHIO_WITH_HPP_FCL
77 std::ostream& operator<<(std::ostream& os, CostModelCollisionTypes::Type type);
78 #endif // PINOCCHIO_WITH_HPP_FCL
79
80 class CostModelFactory {
81 public:
82 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
83
84 typedef crocoddyl::MathBaseTpl<double> MathBase;
85 typedef typename MathBase::Vector6s Vector6d;
86 typedef pinocchio::GeometryObject::CollisionGeometryPtr CollisionGeometryPtr;
87
88 explicit CostModelFactory();
89 ~CostModelFactory();
90
91 boost::shared_ptr<crocoddyl::CostModelAbstract> create(
92 CostModelTypes::Type cost_type, StateModelTypes::Type state_type,
93 ActivationModelTypes::Type activation_type,
94 std::size_t nu = std::numeric_limits<std::size_t>::max()) const;
95 boost::shared_ptr<crocoddyl::CostModelAbstract> create(
96 CostModelNoFFTypes::Type cost_type,
97 ActivationModelTypes::Type activation_type,
98 std::size_t nu = std::numeric_limits<std::size_t>::max()) const;
99
100 #ifdef PINOCCHIO_WITH_HPP_FCL
101 boost::shared_ptr<crocoddyl::CostModelAbstract> create(
102 CostModelCollisionTypes::Type cost_type, StateModelTypes::Type state_type,
103 std::size_t nu = std::numeric_limits<std::size_t>::max()) const;
104 #endif // PINOCCHIO_WITH_HPP_FCL
105 };
106
107 boost::shared_ptr<crocoddyl::CostModelAbstract> create_random_cost(
108 StateModelTypes::Type state_type,
109 std::size_t nu = std::numeric_limits<std::size_t>::max());
110 } // namespace unittest
111 } // namespace crocoddyl
112
113 #endif // CROCODDYL_COST_FACTORY_HPP_
114