| Directory: | ./ |
|---|---|
| File: | unittest/factory/impulse.hpp |
| Date: | 2025-01-30 11:01:55 |
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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) 2019-2023, University of Edinburgh, LAAS-CNRS, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef CROCODDYL_IMPULSES_FACTORY_HPP_ | ||
| 11 | #define CROCODDYL_IMPULSES_FACTORY_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/multibody/impulse-base.hpp" | ||
| 14 | #include "crocoddyl/multibody/impulses/multiple-impulses.hpp" | ||
| 15 | #include "state.hpp" | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | namespace unittest { | ||
| 19 | |||
| 20 | struct ImpulseModelTypes { | ||
| 21 | enum Type { | ||
| 22 | ImpulseModel3D_LOCAL, | ||
| 23 | ImpulseModel3D_WORLD, | ||
| 24 | ImpulseModel3D_LWA, | ||
| 25 | ImpulseModel6D_LOCAL, | ||
| 26 | ImpulseModel6D_WORLD, | ||
| 27 | ImpulseModel6D_LWA, | ||
| 28 | NbImpulseModelTypes | ||
| 29 | }; | ||
| 30 | 23 | static std::vector<Type> init_all() { | |
| 31 | 23 | std::vector<Type> v; | |
| 32 |
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23 | v.reserve(NbImpulseModelTypes); |
| 33 |
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161 | for (int i = 0; i < NbImpulseModelTypes; ++i) { |
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138 | v.push_back((Type)i); |
| 35 | } | ||
| 36 | 23 | return v; | |
| 37 | } | ||
| 38 | static const std::vector<Type> all; | ||
| 39 | }; | ||
| 40 | |||
| 41 | std::ostream& operator<<(std::ostream& os, const ImpulseModelTypes::Type& type); | ||
| 42 | |||
| 43 | class ImpulseModelFactory { | ||
| 44 | public: | ||
| 45 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 46 | |||
| 47 | explicit ImpulseModelFactory(); | ||
| 48 | ~ImpulseModelFactory(); | ||
| 49 | |||
| 50 | std::shared_ptr<crocoddyl::ImpulseModelAbstract> create( | ||
| 51 | ImpulseModelTypes::Type impulse_type, | ||
| 52 | PinocchioModelTypes::Type model_type, | ||
| 53 | const std::string frame_name = std::string("")) const; | ||
| 54 | }; | ||
| 55 | |||
| 56 | std::shared_ptr<crocoddyl::ImpulseModelAbstract> create_random_impulse(); | ||
| 57 | |||
| 58 | } // namespace unittest | ||
| 59 | } // namespace crocoddyl | ||
| 60 | |||
| 61 | #endif // CROCODDYL_IMPULSES_FACTORY_HPP_ | ||
| 62 |