GCC Code Coverage Report

Line	Branch	Exec	Source
1			///////////////////////////////////////////////////////////////////////////////
2			// BSD 3-Clause License
3			//
4			// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh,
5			// Heriot-Watt University
6			// Copyright note valid unless otherwise stated in individual files.
7			// All rights reserved.
8			///////////////////////////////////////////////////////////////////////////////
9
10			#include "state.hpp"
11
12			#include <pinocchio/fwd.hpp>
13			#include <pinocchio/parsers/sample-models.hpp>
14			#include <pinocchio/parsers/urdf.hpp>
15
16			#include "crocoddyl/core/states/euclidean.hpp"
17			#include "crocoddyl/multibody/states/multibody.hpp"
18
19			namespace crocoddyl {
20			namespace unittest {
21
22			const std::vector<StateModelTypes::Type> StateModelTypes::all(
23			StateModelTypes::init_all());
24
25		✗	std::ostream& operator<<(std::ostream& os, StateModelTypes::Type type) {
26		✗	switch (type) {
27		✗	case StateModelTypes::StateVector:
28		✗	os << "StateVector";
29		✗	break;
30		✗	case StateModelTypes::StateMultibody_Hector:
31		✗	os << "StateMultibody_Hector";
32		✗	break;
33		✗	case StateModelTypes::StateMultibody_TalosArm:
34		✗	os << "StateMultibody_TalosArm";
35		✗	break;
36		✗	case StateModelTypes::StateMultibodyContact2D_TalosArm:
37		✗	os << "StateMultibodyContact2D_TalosArm";
38		✗	break;
39		✗	case StateModelTypes::StateMultibody_HyQ:
40		✗	os << "StateMultibody_HyQ";
41		✗	break;
42		✗	case StateModelTypes::StateMultibody_Talos:
43		✗	os << "StateMultibody_Talos";
44		✗	break;
45		✗	case StateModelTypes::StateMultibody_RandomHumanoid:
46		✗	os << "StateMultibody_RandomHumanoid";
47		✗	break;
48		✗	case StateModelTypes::NbStateModelTypes:
49		✗	os << "NbStateModelTypes";
50		✗	break;
51		✗	default:
52		✗	break;
53			}
54		✗	return os;
55			}
56
57		✗	StateModelFactory::StateModelFactory() {}
58		✗	StateModelFactory::~StateModelFactory() {}
59
60		✗	std::shared_ptr<crocoddyl::StateAbstract> StateModelFactory::create(
61			StateModelTypes::Type state_type) const {
62		✗	std::shared_ptr<pinocchio::Model> model;
63		✗	std::shared_ptr<crocoddyl::StateAbstract> state;
64		✗	switch (state_type) {
65		✗	case StateModelTypes::StateVector:
66		✗	state = std::make_shared<crocoddyl::StateVector>(80);
67		✗	break;
68		✗	case StateModelTypes::StateMultibody_Hector:
69		✗	model = PinocchioModelFactory(PinocchioModelTypes::Hector).create();
70		✗	state = std::make_shared<crocoddyl::StateMultibody>(model);
71		✗	break;
72		✗	case StateModelTypes::StateMultibody_TalosArm:
73		✗	model = PinocchioModelFactory(PinocchioModelTypes::TalosArm).create();
74		✗	state = std::make_shared<crocoddyl::StateMultibody>(model);
75		✗	break;
76		✗	case StateModelTypes::StateMultibodyContact2D_TalosArm:
77		✗	model = PinocchioModelFactory(PinocchioModelTypes::TalosArm).create();
78		✗	state = std::make_shared<crocoddyl::StateMultibody>(model);
79		✗	break;
80		✗	case StateModelTypes::StateMultibody_HyQ:
81		✗	model = PinocchioModelFactory(PinocchioModelTypes::HyQ).create();
82		✗	state = std::make_shared<crocoddyl::StateMultibody>(model);
83		✗	break;
84		✗	case StateModelTypes::StateMultibody_Talos:
85		✗	model = PinocchioModelFactory(PinocchioModelTypes::Talos).create();
86		✗	state = std::make_shared<crocoddyl::StateMultibody>(model);
87		✗	break;
88		✗	case StateModelTypes::StateMultibody_RandomHumanoid:
89			model =
90		✗	PinocchioModelFactory(PinocchioModelTypes::RandomHumanoid).create();
91		✗	state = std::make_shared<crocoddyl::StateMultibody>(model);
92		✗	break;
93		✗	default:
94		✗	throw_pretty(__FILE__ ": Wrong StateModelTypes::Type given");
95			break;
96			}
97		✗	return state;
98		✗	}
99
100			} // namespace unittest
101			} // namespace crocoddyl
102