| Directory: | ./ |
|---|---|
| File: | unittest/factory/residual.hpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 5 | 5 | 100.0% |
| Branches: | 3 | 4 | 75.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2025, University of Edinburgh, LAAS-CNRS | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_RESIDUAL_FACTORY_HPP_ | ||
| 10 | #define CROCODDYL_RESIDUAL_FACTORY_HPP_ | ||
| 11 | |||
| 12 | #include "crocoddyl/core/numdiff/residual.hpp" | ||
| 13 | #include "crocoddyl/core/residual-base.hpp" | ||
| 14 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 15 | #include "state.hpp" | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | namespace unittest { | ||
| 19 | |||
| 20 | struct ResidualModelTypes { | ||
| 21 | enum Type { | ||
| 22 | ResidualModelState, | ||
| 23 | ResidualModelControl, | ||
| 24 | ResidualModelCoMPosition, | ||
| 25 | ResidualModelCentroidalMomentum, | ||
| 26 | ResidualModelFramePlacement, | ||
| 27 | ResidualModelFrameRotation, | ||
| 28 | ResidualModelFrameTranslation, | ||
| 29 | ResidualModelFrameVelocity, | ||
| 30 | ResidualModelControlGrav, | ||
| 31 | #ifdef PINOCCHIO_WITH_HPP_FCL | ||
| 32 | #ifdef CROCODDYL_WITH_PAIR_COLLISION | ||
| 33 | ResidualModelPairCollision, | ||
| 34 | #endif // CROCODDYL_WITH_PAIR_COLLISION | ||
| 35 | #endif // PINOCCHIO_WITH_HPP_FCL | ||
| 36 | NbResidualModelTypes | ||
| 37 | }; | ||
| 38 | 22 | static std::vector<Type> init_all() { | |
| 39 | 22 | std::vector<Type> v; | |
| 40 |
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220 | for (int i = 0; i < NbResidualModelTypes; ++i) { |
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198 | v.push_back((Type)i); |
| 42 | } | ||
| 43 | 22 | return v; | |
| 44 | } | ||
| 45 | static const std::vector<Type> all; | ||
| 46 | }; | ||
| 47 | |||
| 48 | std::ostream& operator<<(std::ostream& os, ResidualModelTypes::Type type); | ||
| 49 | |||
| 50 | class ResidualModelFactory { | ||
| 51 | public: | ||
| 52 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 53 | |||
| 54 | typedef crocoddyl::MathBaseTpl<double> MathBase; | ||
| 55 | typedef typename MathBase::Vector6s Vector6d; | ||
| 56 | typedef pinocchio::GeometryObject::CollisionGeometryPtr CollisionGeometryPtr; | ||
| 57 | |||
| 58 | explicit ResidualModelFactory(); | ||
| 59 | ~ResidualModelFactory(); | ||
| 60 | |||
| 61 | std::shared_ptr<crocoddyl::ResidualModelAbstract> create( | ||
| 62 | ResidualModelTypes::Type residual_type, StateModelTypes::Type state_type, | ||
| 63 | std::size_t nu = std::numeric_limits<std::size_t>::max()) const; | ||
| 64 | }; | ||
| 65 | |||
| 66 | std::shared_ptr<crocoddyl::ResidualModelAbstract> create_random_residual( | ||
| 67 | StateModelTypes::Type state_type); | ||
| 68 | |||
| 69 | } // namespace unittest | ||
| 70 | } // namespace crocoddyl | ||
| 71 | |||
| 72 | #endif // CROCODDYL_RESIDUAL_FACTORY_HPP_ | ||
| 73 |