| Directory: | ./ |
|---|---|
| File: | unittest/factory/solver.hpp |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 6 | 6 | 100.0% |
| Branches: | 4 | 6 | 66.7% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2024, University of Edinburgh, LAAS-CNRS, | ||
| 5 | // New York University, Max Planck Gesellschaft, | ||
| 6 | // Heriot-Watt University | ||
| 7 | // Copyright note valid unless otherwise stated in individual files. | ||
| 8 | // All rights reserved. | ||
| 9 | /////////////////////////////////////////////////////////////////////////////// | ||
| 10 | |||
| 11 | #ifndef CROCODDYL_SOLVER_FACTORY_HPP_ | ||
| 12 | #define CROCODDYL_SOLVER_FACTORY_HPP_ | ||
| 13 | |||
| 14 | #include "action.hpp" | ||
| 15 | #include "crocoddyl/core/solver-base.hpp" | ||
| 16 | #include "crocoddyl/core/solvers/kkt.hpp" | ||
| 17 | |||
| 18 | namespace crocoddyl { | ||
| 19 | namespace unittest { | ||
| 20 | |||
| 21 | struct SolverTypes { | ||
| 22 | enum Type { | ||
| 23 | SolverKKT, | ||
| 24 | SolverDDP, | ||
| 25 | SolverFDDP, | ||
| 26 | SolverBoxDDP, | ||
| 27 | SolverBoxFDDP, | ||
| 28 | SolverIpopt, | ||
| 29 | NbSolverTypes | ||
| 30 | }; | ||
| 31 | 23 | static std::vector<Type> init_all() { | |
| 32 | 23 | std::vector<Type> v; | |
| 33 |
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23 | v.reserve(NbSolverTypes); |
| 34 |
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161 | for (int i = 0; i < NbSolverTypes; ++i) { |
| 35 | #ifndef CROCODDYL_WITH_IPOPT | ||
| 36 | if ((Type)i == SolverIpopt) { | ||
| 37 | continue; | ||
| 38 | } | ||
| 39 | #endif | ||
| 40 |
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138 | v.push_back((Type)i); |
| 41 | } | ||
| 42 | 23 | return v; | |
| 43 | } | ||
| 44 | static const std::vector<Type> all; | ||
| 45 | }; | ||
| 46 | |||
| 47 | std::ostream& operator<<(std::ostream& os, SolverTypes::Type type); | ||
| 48 | |||
| 49 | class SolverFactory { | ||
| 50 | public: | ||
| 51 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 52 | |||
| 53 | explicit SolverFactory(); | ||
| 54 | ~SolverFactory(); | ||
| 55 | |||
| 56 | boost::shared_ptr<crocoddyl::SolverAbstract> create( | ||
| 57 | SolverTypes::Type solver_type, | ||
| 58 | boost::shared_ptr<crocoddyl::ActionModelAbstract> model, | ||
| 59 | boost::shared_ptr<crocoddyl::ActionModelAbstract> model2, | ||
| 60 | boost::shared_ptr<crocoddyl::ActionModelAbstract> modelT, size_t T) const; | ||
| 61 | }; | ||
| 62 | |||
| 63 | } // namespace unittest | ||
| 64 | } // namespace crocoddyl | ||
| 65 | |||
| 66 | #endif // CROCODDYL_SOLVER_FACTORY_HPP_ | ||
| 67 |