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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2024, University of Edinburgh, LAAS-CNRS, |
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// New York University, Max Planck Gesellschaft, |
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// 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_SOLVER_FACTORY_HPP_ |
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#define CROCODDYL_SOLVER_FACTORY_HPP_ |
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#include "action.hpp" |
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#include "crocoddyl/core/solver-base.hpp" |
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#include "crocoddyl/core/solvers/kkt.hpp" |
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namespace crocoddyl { |
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namespace unittest { |
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struct SolverTypes { |
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enum Type { |
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SolverKKT, |
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SolverDDP, |
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SolverFDDP, |
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SolverBoxDDP, |
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SolverBoxFDDP, |
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SolverIpopt, |
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NbSolverTypes |
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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(NbSolverTypes); |
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for (int i = 0; i < NbSolverTypes; ++i) { |
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#ifndef CROCODDYL_WITH_IPOPT |
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if ((Type)i == SolverIpopt) { |
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continue; |
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} |
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#endif |
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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, SolverTypes::Type type); |
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class SolverFactory { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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explicit SolverFactory(); |
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~SolverFactory(); |
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std::shared_ptr<crocoddyl::SolverAbstract> create( |
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SolverTypes::Type solver_type, |
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std::shared_ptr<crocoddyl::ActionModelAbstract> model, |
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std::shared_ptr<crocoddyl::ActionModelAbstract> model2, |
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std::shared_ptr<crocoddyl::ActionModelAbstract> modelT, size_t T) const; |
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}; |
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} // namespace unittest |
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} // namespace crocoddyl |
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#endif // CROCODDYL_SOLVER_FACTORY_HPP_ |
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