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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, |
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// Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef CROCODDYL_STATE_FACTORY_HPP_ |
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#define CROCODDYL_STATE_FACTORY_HPP_ |
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#include "crocoddyl/core/numdiff/state.hpp" |
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#include "crocoddyl/core/state-base.hpp" |
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#include "pinocchio_model.hpp" |
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namespace crocoddyl { |
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namespace unittest { |
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struct StateModelTypes { |
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enum Type { |
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StateVector, |
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StateMultibody_Hector, |
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StateMultibody_TalosArm, |
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StateMultibodyContact2D_TalosArm, |
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StateMultibody_HyQ, |
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StateMultibody_Talos, |
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StateMultibody_RandomHumanoid, |
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NbStateModelTypes |
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}; |
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static std::vector<Type> init_all() { |
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std::vector<Type> v; |
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v.reserve(NbStateModelTypes); |
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for (int i = 0; i < NbStateModelTypes; ++i) { |
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v.push_back((Type)i); |
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} |
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return v; |
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} |
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static const std::vector<Type> all; |
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}; |
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std::ostream& operator<<(std::ostream& os, StateModelTypes::Type type); |
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class StateModelFactory { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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explicit StateModelFactory(); |
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~StateModelFactory(); |
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std::shared_ptr<crocoddyl::StateAbstract> create( |
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StateModelTypes::Type state_type) const; |
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}; |
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} // namespace unittest |
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} // namespace crocoddyl |
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#endif // CROCODDYL_STATE_FACTORY_HPP_ |
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