GCC Code Coverage Report

Line	Branch	Exec	Source
1			///////////////////////////////////////////////////////////////////////////////
2			// BSD 3-Clause License
3			//
4			// Copyright (C) 2019-2020, LAAS-CNRS, University of Edinburgh
5			// Copyright note valid unless otherwise stated in individual files.
6			// All rights reserved.
7			///////////////////////////////////////////////////////////////////////////////
8
9			#ifndef CROCODDYL_STATE_FACTORY_HPP_
10			#define CROCODDYL_STATE_FACTORY_HPP_
11
12			#include "crocoddyl/core/numdiff/state.hpp"
13			#include "crocoddyl/core/state-base.hpp"
14			#include "crocoddyl/core/utils/exception.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		23	static std::vector<Type> init_all() {
32		23	std::vector<Type> v;
33	1/2 ✓ Branch 1 taken 23 times. ✗ Branch 2 not taken.	23	v.reserve(NbStateModelTypes);
34	2/2 ✓ Branch 0 taken 161 times. ✓ Branch 1 taken 23 times.	184	for (int i = 0; i < NbStateModelTypes; ++i) {
35	1/2 ✓ Branch 1 taken 161 times. ✗ Branch 2 not taken.	161	v.push_back((Type)i);
36			}
37		23	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			boost::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