| Directory: | ./ |
|---|---|
| File: | unittest/factory/integrator.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, LAAS-CNRS, University of Edinburgh, University of Trento | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_INTEGRATOR_FACTORY_HPP_ | ||
| 10 | #define CROCODDYL_INTEGRATOR_FACTORY_HPP_ | ||
| 11 | |||
| 12 | #include <iterator> | ||
| 13 | |||
| 14 | #include "control.hpp" | ||
| 15 | #include "crocoddyl/core/integ-action-base.hpp" | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | namespace unittest { | ||
| 19 | |||
| 20 | struct IntegratorTypes { | ||
| 21 | enum Type { | ||
| 22 | IntegratorEuler, | ||
| 23 | IntegratorRK2, | ||
| 24 | IntegratorRK3, | ||
| 25 | IntegratorRK4, | ||
| 26 | NbIntegratorTypes | ||
| 27 | }; | ||
| 28 | 23 | static std::vector<Type> init_all() { | |
| 29 | 23 | std::vector<Type> v; | |
| 30 |
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23 | v.reserve(NbIntegratorTypes); |
| 31 |
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115 | for (int i = 0; i < NbIntegratorTypes; ++i) { |
| 32 |
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92 | v.push_back((Type)i); |
| 33 | } | ||
| 34 | 23 | return v; | |
| 35 | } | ||
| 36 | static const std::vector<Type> all; | ||
| 37 | }; | ||
| 38 | |||
| 39 | std::ostream& operator<<(std::ostream& os, IntegratorTypes::Type type); | ||
| 40 | |||
| 41 | class IntegratorFactory { | ||
| 42 | public: | ||
| 43 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 44 | |||
| 45 | explicit IntegratorFactory(); | ||
| 46 | ~IntegratorFactory(); | ||
| 47 | |||
| 48 | boost::shared_ptr<crocoddyl::IntegratedActionModelAbstract> create( | ||
| 49 | IntegratorTypes::Type type, | ||
| 50 | boost::shared_ptr<DifferentialActionModelAbstract> model) const; | ||
| 51 | |||
| 52 | boost::shared_ptr<crocoddyl::IntegratedActionModelAbstract> create( | ||
| 53 | IntegratorTypes::Type type, | ||
| 54 | boost::shared_ptr<DifferentialActionModelAbstract> model, | ||
| 55 | boost::shared_ptr<ControlParametrizationModelAbstract> control) const; | ||
| 56 | }; | ||
| 57 | |||
| 58 | } // namespace unittest | ||
| 59 | } // namespace crocoddyl | ||
| 60 | |||
| 61 | #endif // CROCODDYL_INTEGRATOR_FACTORY_HPP_ | ||
| 62 |