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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, University of Edinburgh, Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef CROCODDYL_PINOCCHIO_MODEL_FACTORY_HPP_ |
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#define CROCODDYL_PINOCCHIO_MODEL_FACTORY_HPP_ |
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#include <pinocchio/fwd.hpp> |
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#include <pinocchio/multibody/data.hpp> |
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#include <pinocchio/multibody/model.hpp> |
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#include "crocoddyl/core/utils/exception.hpp" |
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namespace crocoddyl { |
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namespace unittest { |
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struct PinocchioModelTypes { |
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enum Type { |
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Hector, |
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TalosArm, |
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HyQ, |
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Talos, |
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RandomHumanoid, |
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NbPinocchioModelTypes |
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}; |
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static std::vector<Type> init_all() { |
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std::vector<Type> v; |
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v.reserve(NbPinocchioModelTypes); |
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for (int i = 0; i < NbPinocchioModelTypes; ++i) { |
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v.push_back((Type)i); |
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} |
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return v; |
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} |
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static const std::vector<Type> all; |
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}; |
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std::ostream& operator<<(std::ostream& os, PinocchioModelTypes::Type type); |
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class PinocchioModelFactory { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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PinocchioModelFactory(PinocchioModelTypes::Type type); |
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~PinocchioModelFactory(); |
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void construct_model(const std::string& urdf_file = "", |
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const std::string& srdf_file = "", |
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bool free_flyer = true); |
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std::shared_ptr<pinocchio::Model> create() const; |
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std::vector<std::string> get_frame_names() const; |
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std::vector<std::size_t> get_frame_ids() const; |
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std::size_t get_contact_nc() const; |
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private: |
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std::shared_ptr<pinocchio::Model> |
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model_; //!< The pointer to the state in testing |
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std::vector<std::string> frame_name_; //!< Frame name for unittesting |
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std::vector<std::size_t> frame_id_; //!< Frame id for unittesting |
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std::size_t contact_nc_; //!< Dimension of the contact |
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}; |
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/** |
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* @brief Compute all the pinocchio data needed for the numerical |
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* differentiation. We use the address of the object to avoid a copy from the |
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* "boost::bind". |
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* |
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* @param model[in] Pinocchio model |
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* @param data[out] Pinocchio data |
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* @param x[in] State vector |
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* @param u[in] Control vector |
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*/ |
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template <typename Scalar, int Options, |
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template <typename, int> class JointCollectionTpl> |
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void updateAllPinocchio( |
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pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>* const model, |
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pinocchio::DataTpl<Scalar, Options, JointCollectionTpl>* data, |
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const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>& x, |
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const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>& u = |
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Eigen::Matrix<Scalar, Eigen::Dynamic, 1>()); |
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} // namespace unittest |
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} // namespace crocoddyl |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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#include "pinocchio_model.hxx" |
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#endif // CROCODDYL_PINOCCHIO_MODEL_FACTORY_HPP_ |
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