GCC Code Coverage Report

Line	Branch	Exec	Source
1			///////////////////////////////////////////////////////////////////////////////
2			// BSD 3-Clause License
3			//
4			// Copyright (C) 2019-2022, University of Edinburgh, Heriot-Watt University
5			// Copyright note valid unless otherwise stated in individual files.
6			// All rights reserved.
7			///////////////////////////////////////////////////////////////////////////////
8
9			#ifndef CROCODDYL_PINOCCHIO_MODEL_FACTORY_HPP_
10			#define CROCODDYL_PINOCCHIO_MODEL_FACTORY_HPP_
11
12			#include <pinocchio/algorithm/center-of-mass.hpp>
13			#include <pinocchio/algorithm/centroidal-derivatives.hpp>
14			#include <pinocchio/algorithm/centroidal.hpp>
15			#include <pinocchio/algorithm/frames.hpp>
16			#include <pinocchio/algorithm/jacobian.hpp>
17			#include <pinocchio/algorithm/kinematics-derivatives.hpp>
18			#include <pinocchio/algorithm/kinematics.hpp>
19			#include <pinocchio/fwd.hpp>
20			#include <pinocchio/parsers/sample-models.hpp>
21			#include <pinocchio/parsers/srdf.hpp>
22			#include <pinocchio/parsers/urdf.hpp>
23
24			#include "crocoddyl/core/utils/exception.hpp"
25
26			namespace crocoddyl {
27			namespace unittest {
28
29			struct PinocchioModelTypes {
30			enum Type {
31			Hector,
32			TalosArm,
33			HyQ,
34			Talos,
35			RandomHumanoid,
36			NbPinocchioModelTypes
37			};
38		23	static std::vector<Type> init_all() {
39		23	std::vector<Type> v;
40	1/2 ✓ Branch 1 taken 23 times. ✗ Branch 2 not taken.	23	v.reserve(NbPinocchioModelTypes);
41	2/2 ✓ Branch 0 taken 115 times. ✓ Branch 1 taken 23 times.	138	for (int i = 0; i < NbPinocchioModelTypes; ++i) {
42	1/2 ✓ Branch 1 taken 115 times. ✗ Branch 2 not taken.	115	v.push_back((Type)i);
43			}
44		23	return v;
45			}
46			static const std::vector<Type> all;
47			};
48
49			std::ostream& operator<<(std::ostream& os, PinocchioModelTypes::Type type);
50
51			class PinocchioModelFactory {
52			public:
53			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
54
55			PinocchioModelFactory(PinocchioModelTypes::Type type);
56			~PinocchioModelFactory();
57
58			void construct_model(const std::string& urdf_file = "",
59			const std::string& srdf_file = "",
60			bool free_flyer = true);
61
62			boost::shared_ptr<pinocchio::Model> create() const;
63			std::vector<std::string> get_frame_names() const;
64			std::vector<std::size_t> get_frame_ids() const;
65			std::size_t get_contact_nc() const;
66
67			private:
68			boost::shared_ptr<pinocchio::Model>
69			model_; //!< The pointer to the state in testing
70			std::vector<std::string> frame_name_; //!< Frame name for unittesting
71			std::vector<std::size_t> frame_id_; //!< Frame id for unittesting
72			std::size_t contact_nc_; //!< Dimension of the contact
73			};
74
75			/**
76			* @brief Compute all the pinocchio data needed for the numerical
77			* differentiation. We use the address of the object to avoid a copy from the
78			* "boost::bind".
79			*
80			* @param model[in] Pinocchio model
81			* @param data[out] Pinocchio data
82			* @param x[in] State vector
83			* @param u[in] Control vector
84			*/
85			void updateAllPinocchio(pinocchio::Model* const model, pinocchio::Data* data,
86			const Eigen::VectorXd& x,
87			const Eigen::VectorXd& u = Eigen::VectorXd());
88
89			} // namespace unittest
90			} // namespace crocoddyl
91
92			#endif // CROCODDYL_PINOCCHIO_MODEL_FACTORY_HPP_
93