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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2025, University of Edinburgh, LAAS-CNRS |
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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_RESIDUAL_FACTORY_HPP_ |
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#define CROCODDYL_RESIDUAL_FACTORY_HPP_ |
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#include "crocoddyl/core/numdiff/residual.hpp" |
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#include "crocoddyl/core/residual-base.hpp" |
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#include "crocoddyl/multibody/states/multibody.hpp" |
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#include "state.hpp" |
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namespace crocoddyl { |
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namespace unittest { |
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struct ResidualModelTypes { |
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enum Type { |
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ResidualModelState, |
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ResidualModelControl, |
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ResidualModelCoMPosition, |
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ResidualModelCentroidalMomentum, |
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ResidualModelFramePlacement, |
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ResidualModelFrameRotation, |
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ResidualModelFrameTranslation, |
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ResidualModelFrameVelocity, |
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ResidualModelControlGrav, |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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#ifdef CROCODDYL_WITH_PAIR_COLLISION |
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ResidualModelPairCollision, |
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#endif // CROCODDYL_WITH_PAIR_COLLISION |
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#endif // PINOCCHIO_WITH_HPP_FCL |
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NbResidualModelTypes |
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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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for (int i = 0; i < NbResidualModelTypes; ++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, ResidualModelTypes::Type type); |
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class ResidualModelFactory { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef crocoddyl::MathBaseTpl<double> MathBase; |
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typedef typename MathBase::Vector6s Vector6d; |
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typedef pinocchio::GeometryObject::CollisionGeometryPtr CollisionGeometryPtr; |
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explicit ResidualModelFactory(); |
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~ResidualModelFactory(); |
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std::shared_ptr<crocoddyl::ResidualModelAbstract> create( |
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ResidualModelTypes::Type residual_type, StateModelTypes::Type state_type, |
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std::size_t nu = std::numeric_limits<std::size_t>::max()) const; |
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}; |
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std::shared_ptr<crocoddyl::ResidualModelAbstract> create_random_residual( |
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StateModelTypes::Type state_type); |
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} // namespace unittest |
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} // namespace crocoddyl |
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#endif // CROCODDYL_RESIDUAL_FACTORY_HPP_ |
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