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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2024, University of Edinburgh, CTU, INRIA, |
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// Heriot-Watt University |
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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_DIFF_ACTION_FACTORY_HPP_ |
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#define CROCODDYL_DIFF_ACTION_FACTORY_HPP_ |
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#include "actuation.hpp" |
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#include "constraint.hpp" |
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#include "contact.hpp" |
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#include "cost.hpp" |
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#include "crocoddyl/core/diff-action-base.hpp" |
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#include "crocoddyl/core/numdiff/diff-action.hpp" |
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#include "crocoddyl/multibody/actions/contact-fwddyn.hpp" |
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#include "crocoddyl/multibody/actions/contact-invdyn.hpp" |
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#include "crocoddyl/multibody/actions/free-fwddyn.hpp" |
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#include "crocoddyl/multibody/actions/free-invdyn.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 DifferentialActionModelTypes { |
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enum Type { |
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DifferentialActionModelLQR, |
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DifferentialActionModelLQRDriftFree, |
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DifferentialActionModelRandomLQR, |
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DifferentialActionModelFreeFwdDynamics_Hector, |
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DifferentialActionModelFreeFwdDynamics_TalosArm, |
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DifferentialActionModelFreeFwdDynamics_TalosArm_Squashed, |
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DifferentialActionModelFreeInvDynamics_Hector, |
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DifferentialActionModelFreeInvDynamics_TalosArm, |
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DifferentialActionModelFreeInvDynamics_TalosArm_Squashed, |
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DifferentialActionModelContactFwdDynamics_TalosArm, |
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DifferentialActionModelContact2DFwdDynamics_TalosArm, |
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DifferentialActionModelContactFwdDynamics_HyQ, |
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DifferentialActionModelContactFwdDynamics_Talos, |
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DifferentialActionModelContactFwdDynamicsWithFriction_TalosArm, |
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DifferentialActionModelContact2DFwdDynamicsWithFriction_TalosArm, |
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DifferentialActionModelContactFwdDynamicsWithFriction_HyQ, |
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DifferentialActionModelContactFwdDynamicsWithFriction_Talos, |
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DifferentialActionModelContactInvDynamics_TalosArm, |
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DifferentialActionModelContactInvDynamics_HyQ, |
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DifferentialActionModelContactInvDynamics_Talos, |
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DifferentialActionModelContactInvDynamicsWithFriction_TalosArm, |
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DifferentialActionModelContactInvDynamicsWithFriction_HyQ, |
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DifferentialActionModelContactInvDynamicsWithFriction_Talos, |
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NbDifferentialActionModelTypes |
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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(NbDifferentialActionModelTypes); |
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for (int i = 0; i < NbDifferentialActionModelTypes; ++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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std::ostream& operator<<(std::ostream& os, |
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DifferentialActionModelTypes::Type type); |
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class DifferentialActionModelFactory { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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explicit DifferentialActionModelFactory(); |
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~DifferentialActionModelFactory(); |
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std::shared_ptr<crocoddyl::DifferentialActionModelAbstract> create( |
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DifferentialActionModelTypes::Type type, |
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bool with_baumgarte = true) const; |
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std::shared_ptr<crocoddyl::DifferentialActionModelFreeFwdDynamics> |
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create_freeFwdDynamics(StateModelTypes::Type state_type, |
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ActuationModelTypes::Type actuation_type, |
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bool constraints = true) const; |
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std::shared_ptr<crocoddyl::DifferentialActionModelFreeInvDynamics> |
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create_freeInvDynamics(StateModelTypes::Type state_type, |
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ActuationModelTypes::Type actuation_type, |
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bool constraints = true) const; |
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std::shared_ptr<crocoddyl::DifferentialActionModelContactFwdDynamics> |
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create_contactFwdDynamics(StateModelTypes::Type state_type, |
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ActuationModelTypes::Type actuation_type, |
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bool with_friction = true, |
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bool with_baumgarte = true) const; |
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std::shared_ptr<crocoddyl::DifferentialActionModelContactInvDynamics> |
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create_contactInvDynamics(StateModelTypes::Type state_type, |
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ActuationModelTypes::Type actuation_type, |
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bool with_friction = true, |
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bool with_baumgarte = true) const; |
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}; |
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} // namespace unittest |
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} // namespace crocoddyl |
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#endif // CROCODDYL_DIFF_ACTION_FACTORY_HPP_ |
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