| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2025, University of Edinburgh, LAAS-CNRS, | ||
| 5 | // University of Trento, Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #include "integrator.hpp" | ||
| 11 | |||
| 12 | #include "crocoddyl/core/integrator/euler.hpp" | ||
| 13 | #include "crocoddyl/core/integrator/rk.hpp" | ||
| 14 | |||
| 15 | namespace crocoddyl { | ||
| 16 | namespace unittest { | ||
| 17 | |||
| 18 | const std::vector<IntegratorTypes::Type> IntegratorTypes::all( | ||
| 19 | IntegratorTypes::init_all()); | ||
| 20 | |||
| 21 | ✗ | std::ostream& operator<<(std::ostream& os, IntegratorTypes::Type type) { | |
| 22 | ✗ | switch (type) { | |
| 23 | ✗ | case IntegratorTypes::IntegratorEuler: | |
| 24 | ✗ | os << "IntegratorEuler"; | |
| 25 | ✗ | break; | |
| 26 | ✗ | case IntegratorTypes::IntegratorRK2: | |
| 27 | ✗ | os << "IntegratorRK2"; | |
| 28 | ✗ | break; | |
| 29 | ✗ | case IntegratorTypes::IntegratorRK3: | |
| 30 | ✗ | os << "IntegratorRK3"; | |
| 31 | ✗ | break; | |
| 32 | ✗ | case IntegratorTypes::IntegratorRK4: | |
| 33 | ✗ | os << "IntegratorRK4"; | |
| 34 | ✗ | break; | |
| 35 | ✗ | case IntegratorTypes::NbIntegratorTypes: | |
| 36 | ✗ | os << "NbIntegratorTypes"; | |
| 37 | ✗ | break; | |
| 38 | ✗ | default: | |
| 39 | ✗ | break; | |
| 40 | } | ||
| 41 | ✗ | return os; | |
| 42 | } | ||
| 43 | |||
| 44 | ✗ | IntegratorFactory::IntegratorFactory() {} | |
| 45 | ✗ | IntegratorFactory::~IntegratorFactory() {} | |
| 46 | |||
| 47 | std::shared_ptr<crocoddyl::IntegratedActionModelAbstract> | ||
| 48 | ✗ | IntegratorFactory::create( | |
| 49 | IntegratorTypes::Type type, | ||
| 50 | std::shared_ptr<DifferentialActionModelAbstract> model) const { | ||
| 51 | ✗ | std::shared_ptr<crocoddyl::IntegratedActionModelAbstract> action; | |
| 52 | ✗ | switch (type) { | |
| 53 | ✗ | case IntegratorTypes::IntegratorEuler: | |
| 54 | ✗ | action = std::make_shared<crocoddyl::IntegratedActionModelEuler>(model); | |
| 55 | ✗ | break; | |
| 56 | ✗ | case IntegratorTypes::IntegratorRK2: | |
| 57 | ✗ | action = std::make_shared<crocoddyl::IntegratedActionModelRK>( | |
| 58 | ✗ | model, RKType::two); | |
| 59 | ✗ | break; | |
| 60 | ✗ | case IntegratorTypes::IntegratorRK3: | |
| 61 | ✗ | action = std::make_shared<crocoddyl::IntegratedActionModelRK>( | |
| 62 | ✗ | model, RKType::three); | |
| 63 | ✗ | break; | |
| 64 | ✗ | case IntegratorTypes::IntegratorRK4: | |
| 65 | ✗ | action = std::make_shared<crocoddyl::IntegratedActionModelRK>( | |
| 66 | ✗ | model, RKType::four); | |
| 67 | ✗ | break; | |
| 68 | ✗ | default: | |
| 69 | ✗ | throw_pretty(__FILE__ ": Wrong IntegratorTypes::Type given"); | |
| 70 | break; | ||
| 71 | } | ||
| 72 | ✗ | return action; | |
| 73 | ✗ | } | |
| 74 | |||
| 75 | std::shared_ptr<crocoddyl::IntegratedActionModelAbstract> | ||
| 76 | ✗ | IntegratorFactory::create( | |
| 77 | IntegratorTypes::Type type, | ||
| 78 | std::shared_ptr<DifferentialActionModelAbstract> model, | ||
| 79 | std::shared_ptr<ControlParametrizationModelAbstract> control) const { | ||
| 80 | ✗ | std::shared_ptr<crocoddyl::IntegratedActionModelAbstract> action; | |
| 81 | ✗ | switch (type) { | |
| 82 | ✗ | case IntegratorTypes::IntegratorEuler: | |
| 83 | ✗ | action = std::make_shared<crocoddyl::IntegratedActionModelEuler>(model, | |
| 84 | ✗ | control); | |
| 85 | ✗ | break; | |
| 86 | ✗ | case IntegratorTypes::IntegratorRK2: | |
| 87 | ✗ | action = std::make_shared<crocoddyl::IntegratedActionModelRK>( | |
| 88 | ✗ | model, control, RKType::two); | |
| 89 | ✗ | break; | |
| 90 | ✗ | case IntegratorTypes::IntegratorRK3: | |
| 91 | ✗ | action = std::make_shared<crocoddyl::IntegratedActionModelRK>( | |
| 92 | ✗ | model, control, RKType::three); | |
| 93 | ✗ | break; | |
| 94 | ✗ | case IntegratorTypes::IntegratorRK4: | |
| 95 | ✗ | action = std::make_shared<crocoddyl::IntegratedActionModelRK>( | |
| 96 | ✗ | model, control, RKType::four); | |
| 97 | ✗ | break; | |
| 98 | ✗ | default: | |
| 99 | ✗ | throw_pretty(__FILE__ ": Wrong IntegratorTypes::Type given"); | |
| 100 | break; | ||
| 101 | } | ||
| 102 | ✗ | return action; | |
| 103 | ✗ | } | |
| 104 | |||
| 105 | } // namespace unittest | ||
| 106 | } // namespace crocoddyl | ||
| 107 |