GCC Code Coverage Report

Line	Branch	Exec	Source
1			///////////////////////////////////////////////////////////////////////////////
2			// BSD 3-Clause License
3			//
4			// Copyright (C) 2019-2024, LAAS-CNRS, New York University,
5			// Max Planck Gesellschaft, University of Edinburgh,
6			// Heriot-Watt University
7			// Copyright note valid unless otherwise stated in individual files.
8			// All rights reserved.
9			///////////////////////////////////////////////////////////////////////////////
10
11			#include "solver.hpp"
12
13			#include "crocoddyl/core/solvers/box-ddp.hpp"
14			#include "crocoddyl/core/solvers/box-fddp.hpp"
15			#include "crocoddyl/core/solvers/ddp.hpp"
16			#include "crocoddyl/core/solvers/fddp.hpp"
17			#ifdef CROCODDYL_WITH_IPOPT
18			#include "crocoddyl/core/solvers/ipopt.hpp"
19			#endif
20
21			namespace crocoddyl {
22			namespace unittest {
23
24			const std::vector<SolverTypes::Type> SolverTypes::all(SolverTypes::init_all());
25
26		✗	std::ostream& operator<<(std::ostream& os, SolverTypes::Type type) {
27		✗	switch (type) {
28		✗	case SolverTypes::SolverKKT:
29		✗	os << "SolverKKT";
30		✗	break;
31		✗	case SolverTypes::SolverDDP:
32		✗	os << "SolverDDP";
33		✗	break;
34		✗	case SolverTypes::SolverFDDP:
35		✗	os << "SolverFDDP";
36		✗	break;
37		✗	case SolverTypes::SolverBoxDDP:
38		✗	os << "SolverBoxDDP";
39		✗	break;
40		✗	case SolverTypes::SolverBoxFDDP:
41		✗	os << "SolverBoxFDDP";
42		✗	break;
43			#ifdef CROCODDYL_WITH_IPOPT
44		✗	case SolverTypes::SolverIpopt:
45		✗	os << "SolverIpopt";
46		✗	break;
47			#endif
48		✗	case SolverTypes::NbSolverTypes:
49		✗	os << "NbSolverTypes";
50		✗	break;
51		✗	default:
52		✗	break;
53			}
54		✗	return os;
55			}
56
57		✗	SolverFactory::SolverFactory() {}
58
59		✗	SolverFactory::~SolverFactory() {}
60
61		✗	std::shared_ptr<crocoddyl::SolverAbstract> SolverFactory::create(
62			SolverTypes::Type solver_type,
63			std::shared_ptr<crocoddyl::ActionModelAbstract> model,
64			std::shared_ptr<crocoddyl::ActionModelAbstract> model2,
65			std::shared_ptr<crocoddyl::ActionModelAbstract> modelT, size_t T) const {
66		✗	std::shared_ptr<crocoddyl::SolverAbstract> solver;
67		✗	std::vector<std::shared_ptr<crocoddyl::ActionModelAbstract> > running_models;
68		✗	const size_t halfway = T / 2;
69		✗	for (size_t i = 0; i < halfway; ++i) {
70		✗	running_models.push_back(model);
71			}
72		✗	for (size_t i = 0; i < T - halfway; ++i) {
73		✗	running_models.push_back(model2);
74			}
75
76			std::shared_ptr<crocoddyl::ShootingProblem> problem =
77		✗	std::make_shared<crocoddyl::ShootingProblem>(model->get_state()->zero(),
78		✗	running_models, modelT);
79
80		✗	switch (solver_type) {
81		✗	case SolverTypes::SolverKKT:
82		✗	solver = std::make_shared<crocoddyl::SolverKKT>(problem);
83		✗	break;
84		✗	case SolverTypes::SolverDDP:
85		✗	solver = std::make_shared<crocoddyl::SolverDDP>(problem);
86		✗	break;
87		✗	case SolverTypes::SolverFDDP:
88		✗	solver = std::make_shared<crocoddyl::SolverFDDP>(problem);
89		✗	break;
90		✗	case SolverTypes::SolverBoxDDP:
91		✗	solver = std::make_shared<crocoddyl::SolverBoxDDP>(problem);
92		✗	break;
93		✗	case SolverTypes::SolverBoxFDDP:
94		✗	solver = std::make_shared<crocoddyl::SolverBoxFDDP>(problem);
95		✗	break;
96			#ifdef CROCODDYL_WITH_IPOPT
97		✗	case SolverTypes::SolverIpopt:
98		✗	solver = std::make_shared<crocoddyl::SolverIpopt>(problem);
99		✗	break;
100			#endif
101		✗	default:
102		✗	throw_pretty(__FILE__ ": Wrong SolverTypes::Type given");
103			break;
104			}
105		✗	return solver;
106		✗	}
107
108			} // namespace unittest
109			} // namespace crocoddyl
110