GCC Code Coverage Report

Directory: ./
File: unittest/factory/impulse_cost.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 83 93 89.2%
Branches: 84 168 50.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021-2025, University of Edinburgh, Heriot-Watt University
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #include "impulse_cost.hpp"
10
11 #include "action.hpp"
12 #include "crocoddyl/core/costs/residual.hpp"
13 #include "crocoddyl/multibody/residuals/contact-cop-position.hpp"
14 #include "crocoddyl/multibody/residuals/contact-force.hpp"
15 #include "crocoddyl/multibody/residuals/contact-friction-cone.hpp"
16 #include "crocoddyl/multibody/residuals/contact-wrench-cone.hpp"
17 #include "crocoddyl/multibody/residuals/impulse-com.hpp"
18
19 namespace crocoddyl {
20 namespace unittest {
21
22 const std::vector<ImpulseCostModelTypes::Type> ImpulseCostModelTypes::all(
23 ImpulseCostModelTypes::init_all());
24
25 42 std::ostream& operator<<(std::ostream& os, ImpulseCostModelTypes::Type type) {
26
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 42 switch (type) {
27 6 case ImpulseCostModelTypes::CostModelResidualImpulseCoM:
28 6 os << "CostModelResidualImpulseCoM";
29 6 break;
30 12 case ImpulseCostModelTypes::CostModelResidualContactForce:
31 12 os << "CostModelResidualContactForce";
32 12 break;
33 6 case ImpulseCostModelTypes::CostModelResidualContactCoPPosition:
34 6 os << "CostModelResidualContactCoPPosition";
35 6 break;
36 12 case ImpulseCostModelTypes::CostModelResidualContactFrictionCone:
37 12 os << "CostModelResidualContactFrictionCone";
38 12 break;
39 6 case ImpulseCostModelTypes::CostModelResidualContactWrenchCone:
40 6 os << "CostModelResidualContactWrenchCone";
41 6 break;
42 ✗ case ImpulseCostModelTypes::NbImpulseCostModelTypes:
43 ✗ os << "NbImpulseCostModelTypes";
44 ✗ break;
45 ✗ default:
46 ✗ break;
47 }
48 42 return os;
49 }
50
51 42 ImpulseCostModelFactory::ImpulseCostModelFactory() {}
52 42 ImpulseCostModelFactory::~ImpulseCostModelFactory() {}
53
54 42 std::shared_ptr<crocoddyl::ActionModelAbstract> ImpulseCostModelFactory::create(
55 ImpulseCostModelTypes::Type cost_type, PinocchioModelTypes::Type model_type,
56 ActivationModelTypes::Type activation_type) const {
57 // Create impulse action model with no cost
58 42 std::shared_ptr<crocoddyl::ActionModelImpulseFwdDynamics> action;
59
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 42 switch (model_type) {
60 30 case PinocchioModelTypes::Talos:
61
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 60 action = ActionModelFactory().create_impulseFwdDynamics(
62 30 StateModelTypes::StateMultibody_Talos);
63 30 break;
64 12 case PinocchioModelTypes::HyQ:
65
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 24 action = ActionModelFactory().create_impulseFwdDynamics(
66 12 StateModelTypes::StateMultibody_HyQ);
67 12 break;
68 ✗ default:
69 ✗ throw_pretty(__FILE__ ": Wrong PinocchioModelTypes::Type given");
70 break;
71 }
72
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 42 action->get_costs()->removeCost("state");
73
74 // Create cost
75 42 std::shared_ptr<crocoddyl::CostModelAbstract> cost;
76
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 84 PinocchioModelFactory model_factory(model_type);
77 std::shared_ptr<crocoddyl::StateMultibody> state =
78
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 84 std::static_pointer_cast<crocoddyl::StateMultibody>(action->get_state());
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 42 Eigen::Matrix3d R = Eigen::Matrix3d::Identity();
80
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 84 std::vector<std::size_t> frame_ids = model_factory.get_frame_ids();
81
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 42 switch (cost_type) {
82 6 case ImpulseCostModelTypes::CostModelResidualImpulseCoM:
83
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 12 cost = std::make_shared<crocoddyl::CostModelResidual>(
84
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 12 state, ActivationModelFactory().create(activation_type, 3),
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 18 std::make_shared<crocoddyl::ResidualModelImpulseCoM>(state));
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 6 action->get_costs()->addCost("cost_0", cost, 0.01);
87 6 break;
88 12 case ImpulseCostModelTypes::CostModelResidualContactForce:
89
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 48 for (std::size_t i = 0; i < frame_ids.size(); ++i) {
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 72 cost = std::make_shared<crocoddyl::CostModelResidual>(
91 state,
92
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 72 ActivationModelFactory().create(activation_type,
93 model_factory.get_contact_nc()),
94
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 72 std::make_shared<crocoddyl::ResidualModelContactForce>(
95 36 state, frame_ids[i], pinocchio::Force::Random(),
96
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 72 model_factory.get_contact_nc(), 0));
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 36 action->get_costs()->addCost("cost_" + std::to_string(i), cost, 0.01);
98 }
99 12 break;
100 6 case ImpulseCostModelTypes::CostModelResidualContactCoPPosition:
101
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 18 for (std::size_t i = 0; i < frame_ids.size(); ++i) {
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 24 cost = std::make_shared<crocoddyl::CostModelResidual>(
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 24 state, ActivationModelFactory().create(activation_type, 4),
104
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 24 std::make_shared<crocoddyl::ResidualModelContactCoPPosition>(
105 12 state, frame_ids[i],
106
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 24 CoPSupport(Eigen::Matrix3d::Identity(),
107 ✗ Eigen::Vector2d(0.1, 0.1)),
108
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 24 0));
109
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 12 action->get_costs()->addCost("cost_" + std::to_string(i), cost, 0.01);
110 }
111 6 break;
112 12 case ImpulseCostModelTypes::CostModelResidualContactFrictionCone:
113
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 48 for (std::size_t i = 0; i < frame_ids.size(); ++i) {
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 72 cost = std::make_shared<crocoddyl::CostModelResidual>(
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 72 state, ActivationModelFactory().create(activation_type, 5),
116
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 72 std::make_shared<crocoddyl::ResidualModelContactFrictionCone>(
117
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 108 state, frame_ids[i], crocoddyl::FrictionCone(R, 1.), 0));
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 36 action->get_costs()->addCost("cost_" + std::to_string(i), cost, 0.01);
119 }
120 12 break;
121 6 case ImpulseCostModelTypes::CostModelResidualContactWrenchCone:
122
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 18 for (std::size_t i = 0; i < frame_ids.size(); ++i) {
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 24 cost = std::make_shared<crocoddyl::CostModelResidual>(
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 24 state, ActivationModelFactory().create(activation_type, 17),
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 24 std::make_shared<crocoddyl::ResidualModelContactWrenchCone>(
126 12 state, frame_ids[i],
127
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 36 crocoddyl::WrenchCone(R, 1., Eigen::Vector2d(0.1, 0.1)), 0));
128
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 12 action->get_costs()->addCost("cost_" + std::to_string(i), cost, 0.01);
129 }
130 6 break;
131 ✗ default:
132 ✗ throw_pretty(__FILE__ ": Wrong ImpulseCostModelTypes::Type given");
133 break;
134 }
135
136 // Include the cost in the impulse model
137
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 42 action->get_costs()->addCost("cost", cost, 0.1);
138 84 return action;
139 42 }
140
141 } // namespace unittest
142 } // namespace crocoddyl
143