| Directory: | ./ |
|---|---|
| File: | unittest/factory/pinocchio_model.hpp |
| Date: | 2025-03-26 19:23:43 |
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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) 2019-2025, 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/fwd.hpp> | ||
| 13 | #include <pinocchio/multibody/data.hpp> | ||
| 14 | #include <pinocchio/multibody/model.hpp> | ||
| 15 | |||
| 16 | #include "crocoddyl/core/utils/exception.hpp" | ||
| 17 | |||
| 18 | namespace crocoddyl { | ||
| 19 | namespace unittest { | ||
| 20 | |||
| 21 | struct PinocchioModelTypes { | ||
| 22 | enum Type { | ||
| 23 | Hector, | ||
| 24 | TalosArm, | ||
| 25 | HyQ, | ||
| 26 | Talos, | ||
| 27 | RandomHumanoid, | ||
| 28 | NbPinocchioModelTypes | ||
| 29 | }; | ||
| 30 | 22 | static std::vector<Type> init_all() { | |
| 31 | 22 | std::vector<Type> v; | |
| 32 |
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22 | v.reserve(NbPinocchioModelTypes); |
| 33 |
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132 | for (int i = 0; i < NbPinocchioModelTypes; ++i) { |
| 34 |
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110 | v.push_back((Type)i); |
| 35 | } | ||
| 36 | 22 | return v; | |
| 37 | } | ||
| 38 | static const std::vector<Type> all; | ||
| 39 | }; | ||
| 40 | |||
| 41 | std::ostream& operator<<(std::ostream& os, PinocchioModelTypes::Type type); | ||
| 42 | |||
| 43 | class PinocchioModelFactory { | ||
| 44 | public: | ||
| 45 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 46 | |||
| 47 | PinocchioModelFactory(PinocchioModelTypes::Type type); | ||
| 48 | ~PinocchioModelFactory(); | ||
| 49 | |||
| 50 | void construct_model(const std::string& urdf_file = "", | ||
| 51 | const std::string& srdf_file = "", | ||
| 52 | bool free_flyer = true); | ||
| 53 | |||
| 54 | std::shared_ptr<pinocchio::Model> create() const; | ||
| 55 | std::vector<std::string> get_frame_names() const; | ||
| 56 | std::vector<std::size_t> get_frame_ids() const; | ||
| 57 | std::size_t get_contact_nc() const; | ||
| 58 | |||
| 59 | private: | ||
| 60 | std::shared_ptr<pinocchio::Model> | ||
| 61 | model_; //!< The pointer to the state in testing | ||
| 62 | std::vector<std::string> frame_name_; //!< Frame name for unittesting | ||
| 63 | std::vector<std::size_t> frame_id_; //!< Frame id for unittesting | ||
| 64 | std::size_t contact_nc_; //!< Dimension of the contact | ||
| 65 | }; | ||
| 66 | |||
| 67 | /** | ||
| 68 | * @brief Compute all the pinocchio data needed for the numerical | ||
| 69 | * differentiation. We use the address of the object to avoid a copy from the | ||
| 70 | * "boost::bind". | ||
| 71 | * | ||
| 72 | * @param model[in] Pinocchio model | ||
| 73 | * @param data[out] Pinocchio data | ||
| 74 | * @param x[in] State vector | ||
| 75 | * @param u[in] Control vector | ||
| 76 | */ | ||
| 77 | template <typename Scalar, int Options, | ||
| 78 | template <typename, int> class JointCollectionTpl> | ||
| 79 | void updateAllPinocchio( | ||
| 80 | pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>* const model, | ||
| 81 | pinocchio::DataTpl<Scalar, Options, JointCollectionTpl>* data, | ||
| 82 | const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>& x, | ||
| 83 | const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>& u = | ||
| 84 | Eigen::Matrix<Scalar, Eigen::Dynamic, 1>()); | ||
| 85 | |||
| 86 | } // namespace unittest | ||
| 87 | } // namespace crocoddyl | ||
| 88 | |||
| 89 | /* --- Details -------------------------------------------------------------- */ | ||
| 90 | /* --- Details -------------------------------------------------------------- */ | ||
| 91 | /* --- Details -------------------------------------------------------------- */ | ||
| 92 | #include "pinocchio_model.hxx" | ||
| 93 | |||
| 94 | #endif // CROCODDYL_PINOCCHIO_MODEL_FACTORY_HPP_ | ||
| 95 |