GCC Code Coverage Report

Line	Branch	Exec	Source
1			///////////////////////////////////////////////////////////////////////////////
2			// BSD 3-Clause License
3			//
4			// Copyright (C) 2019-2025, University of Edinburgh, IRI: CSIC-UPC,
5			// Heriot-Watt University
6			// Copyright note valid unless otherwise stated in individual files.
7			// All rights reserved.
8			///////////////////////////////////////////////////////////////////////////////
9
10			#ifndef CROCODDYL_CORE_SQUASHING_BASE_HPP_
11			#define CROCODDYL_CORE_SQUASHING_BASE_HPP_
12
13			#include "crocoddyl/core/fwd.hpp"
14
15			namespace crocoddyl {
16
17			class SquashingModelBase {
18			public:
19		✗	virtual ~SquashingModelBase() = default;
20
21		✗	CROCODDYL_BASE_CAST(SquashingModelBase, SquashingModelAbstractTpl)
22			};
23
24			template <typename _Scalar>
25			class SquashingModelAbstractTpl : public SquashingModelBase {
26			public:
27			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
28
29			typedef _Scalar Scalar;
30			typedef MathBaseTpl<Scalar> MathBase;
31			typedef SquashingDataAbstractTpl<Scalar> SquashingDataAbstract;
32			typedef typename MathBase::VectorXs VectorXs;
33
34		✗	SquashingModelAbstractTpl(const std::size_t ns) : ns_(ns) {
35		✗	if (ns_ == 0) {
36		✗	throw_pretty("Invalid argument: " << "ns cannot be zero");
37			}
38		✗	};
39		✗	virtual ~SquashingModelAbstractTpl() = default;
40
41			virtual void calc(const std::shared_ptr<SquashingDataAbstract>& data,
42			const Eigen::Ref<const VectorXs>& s) = 0;
43			virtual void calcDiff(const std::shared_ptr<SquashingDataAbstract>& data,
44			const Eigen::Ref<const VectorXs>& s) = 0;
45		✗	virtual std::shared_ptr<SquashingDataAbstract> createData() {
46			return std::allocate_shared<SquashingDataAbstract>(
47		✗	Eigen::aligned_allocator<SquashingDataAbstract>(), this);
48			}
49
50			/**
51			* @brief Print information on the actuation model
52			*/
53			template <class Scalar>
54			friend std::ostream& operator<<(
55			std::ostream& os, const SquashingModelAbstractTpl<Scalar>& model);
56
57			/**
58			* @brief Print relevant information of the squashing model
59			*
60			* @param[out] os Output stream object
61			*/
62		✗	virtual void print(std::ostream& os) const {
63		✗	os << boost::core::demangle(typeid(*this).name());
64		✗	}
65
66		✗	std::size_t get_ns() const { return ns_; };
67		✗	const VectorXs& get_s_lb() const { return s_lb_; };
68		✗	const VectorXs& get_s_ub() const { return s_ub_; };
69
70		✗	void set_s_lb(const VectorXs& s_lb) { s_lb_ = s_lb; };
71		✗	void set_s_ub(const VectorXs& s_ub) { s_ub_ = s_ub; };
72
73			protected:
74			std::size_t ns_;
75			VectorXs u_ub_; // Squashing function upper bound
76			VectorXs u_lb_; // Squashing function lower bound
77			VectorXs
78			s_ub_; // Bound for the s variable (to apply using the Quadratic barrier)
79			VectorXs
80			s_lb_; // Bound for the s variable (to apply using the Quadratic barrier)
81		✗	SquashingModelAbstractTpl() : ns_(0) {};
82			};
83
84			template <typename _Scalar>
85			struct SquashingDataAbstractTpl {
86			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
87
88			typedef _Scalar Scalar;
89			typedef MathBaseTpl<Scalar> MathBase;
90			typedef typename MathBase::VectorXs VectorXs;
91			typedef typename MathBase::MatrixXs MatrixXs;
92
93			template <template <typename Scalar> class Model>
94		✗	explicit SquashingDataAbstractTpl(Model<Scalar>* const model)
95		✗	: u(model->get_ns()), du_ds(model->get_ns(), model->get_ns()) {
96		✗	u.setZero();
97		✗	du_ds.setZero();
98		✗	}
99		✗	SquashingDataAbstractTpl() {}
100		✗	virtual ~SquashingDataAbstractTpl() = default;
101
102			VectorXs u;
103			MatrixXs du_ds;
104			};
105
106			template <class Scalar>
107		✗	std::ostream& operator<<(std::ostream& os,
108			const SquashingModelAbstractTpl<Scalar>& model) {
109		✗	model.print(os);
110		✗	return os;
111			}
112
113			} // namespace crocoddyl
114
115			CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::SquashingModelAbstractTpl)
116			CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::SquashingDataAbstractTpl)
117
118			#endif // CROCODDYL_CORE_SQUASHING_BASE_HPP_
119