| Directory: | ./ |
|---|---|
| File: | unittest/factory/impulse_cost.hpp |
| Date: | 2025-01-16 08:47:40 |
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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) 2021, University of Edinburgh | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_IMPULSE_COST_FACTORY_HPP_ | ||
| 10 | #define CROCODDYL_IMPULSE_COST_FACTORY_HPP_ | ||
| 11 | |||
| 12 | #include "activation.hpp" | ||
| 13 | #include "crocoddyl/core/action-base.hpp" | ||
| 14 | #include "crocoddyl/core/numdiff/action.hpp" | ||
| 15 | #include "state.hpp" | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | namespace unittest { | ||
| 19 | |||
| 20 | struct ImpulseCostModelTypes { | ||
| 21 | enum Type { | ||
| 22 | CostModelResidualImpulseCoM, | ||
| 23 | CostModelResidualContactForce, | ||
| 24 | CostModelResidualContactCoPPosition, | ||
| 25 | CostModelResidualContactFrictionCone, | ||
| 26 | CostModelResidualContactWrenchCone, | ||
| 27 | NbImpulseCostModelTypes | ||
| 28 | }; | ||
| 29 | 23 | static std::vector<Type> init_all() { | |
| 30 | 23 | std::vector<Type> v; | |
| 31 |
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23 | v.reserve(NbImpulseCostModelTypes); |
| 32 |
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138 | for (int i = 0; i < NbImpulseCostModelTypes; ++i) { |
| 33 |
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115 | v.push_back((Type)i); |
| 34 | } | ||
| 35 | 23 | return v; | |
| 36 | } | ||
| 37 | static const std::vector<Type> all; | ||
| 38 | }; | ||
| 39 | |||
| 40 | std::ostream& operator<<(std::ostream& os, ImpulseCostModelTypes::Type type); | ||
| 41 | |||
| 42 | class ImpulseCostModelFactory { | ||
| 43 | public: | ||
| 44 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 45 | |||
| 46 | typedef crocoddyl::MathBaseTpl<double> MathBase; | ||
| 47 | typedef typename MathBase::Vector6s Vector6d; | ||
| 48 | |||
| 49 | explicit ImpulseCostModelFactory(); | ||
| 50 | ~ImpulseCostModelFactory(); | ||
| 51 | |||
| 52 | boost::shared_ptr<crocoddyl::ActionModelAbstract> create( | ||
| 53 | ImpulseCostModelTypes::Type cost_type, | ||
| 54 | PinocchioModelTypes::Type model_type, | ||
| 55 | ActivationModelTypes::Type activation_type) const; | ||
| 56 | }; | ||
| 57 | |||
| 58 | } // namespace unittest | ||
| 59 | } // namespace crocoddyl | ||
| 60 | |||
| 61 | #endif // CROCODDYL_IMPULSE_COST_FACTORY_HPP_ | ||
| 62 |