| 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 | #ifndef CROCODDYL_STATE_FACTORY_HPP_ | ||
| 11 | #define CROCODDYL_STATE_FACTORY_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/core/numdiff/state.hpp" | ||
| 14 | #include "crocoddyl/core/state-base.hpp" | ||
| 15 | #include "pinocchio_model.hpp" | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | namespace unittest { | ||
| 19 | |||
| 20 | struct StateModelTypes { | ||
| 21 | enum Type { | ||
| 22 | StateVector, | ||
| 23 | StateMultibody_Hector, | ||
| 24 | StateMultibody_TalosArm, | ||
| 25 | StateMultibodyContact2D_TalosArm, | ||
| 26 | StateMultibody_HyQ, | ||
| 27 | StateMultibody_Talos, | ||
| 28 | StateMultibody_RandomHumanoid, | ||
| 29 | NbStateModelTypes | ||
| 30 | }; | ||
| 31 | ✗ | static std::vector<Type> init_all() { | |
| 32 | ✗ | std::vector<Type> v; | |
| 33 | ✗ | v.reserve(NbStateModelTypes); | |
| 34 | ✗ | for (int i = 0; i < NbStateModelTypes; ++i) { | |
| 35 | ✗ | v.push_back((Type)i); | |
| 36 | } | ||
| 37 | ✗ | return v; | |
| 38 | ✗ | } | |
| 39 | static const std::vector<Type> all; | ||
| 40 | }; | ||
| 41 | |||
| 42 | std::ostream& operator<<(std::ostream& os, StateModelTypes::Type type); | ||
| 43 | |||
| 44 | class StateModelFactory { | ||
| 45 | public: | ||
| 46 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 47 | |||
| 48 | explicit StateModelFactory(); | ||
| 49 | ~StateModelFactory(); | ||
| 50 | |||
| 51 | std::shared_ptr<crocoddyl::StateAbstract> create( | ||
| 52 | StateModelTypes::Type state_type) const; | ||
| 53 | }; | ||
| 54 | |||
| 55 | } // namespace unittest | ||
| 56 | } // namespace crocoddyl | ||
| 57 | |||
| 58 | #endif // CROCODDYL_STATE_FACTORY_HPP_ | ||
| 59 |