1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
2 |
|
|
// BSD 3-Clause License |
3 |
|
|
// |
4 |
|
|
// Copyright (C) 2019-2023, University of Edinburgh, Heriot-Watt University |
5 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
6 |
|
|
// All rights reserved. |
7 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
8 |
|
|
|
9 |
|
|
#ifndef CROCODDYL_CONTACTS_FACTORY_HPP_ |
10 |
|
|
#define CROCODDYL_CONTACTS_FACTORY_HPP_ |
11 |
|
|
|
12 |
|
|
#include <iostream> |
13 |
|
|
#include <limits> |
14 |
|
|
|
15 |
|
|
#include "crocoddyl/multibody/contact-base.hpp" |
16 |
|
|
#include "crocoddyl/multibody/contacts/multiple-contacts.hpp" |
17 |
|
|
#include "crocoddyl/multibody/numdiff/contact.hpp" |
18 |
|
|
#include "state.hpp" |
19 |
|
|
|
20 |
|
|
namespace crocoddyl { |
21 |
|
|
namespace unittest { |
22 |
|
|
|
23 |
|
|
struct ContactModelTypes { |
24 |
|
|
enum Type { |
25 |
|
|
ContactModel1D_LOCAL, |
26 |
|
|
ContactModel1D_WORLD, |
27 |
|
|
ContactModel1D_LWA, |
28 |
|
|
ContactModel2D, |
29 |
|
|
ContactModel3D_LOCAL, |
30 |
|
|
ContactModel3D_WORLD, |
31 |
|
|
ContactModel3D_LWA, |
32 |
|
|
ContactModel6D_LOCAL, |
33 |
|
|
ContactModel6D_WORLD, |
34 |
|
|
ContactModel6D_LWA, |
35 |
|
|
NbContactModelTypes |
36 |
|
|
}; |
37 |
|
23 |
static std::vector<Type> init_all() { |
38 |
|
23 |
std::vector<Type> v; |
39 |
✓✗ |
23 |
v.reserve(NbContactModelTypes); |
40 |
✓✓ |
253 |
for (int i = 0; i < NbContactModelTypes; ++i) { |
41 |
✓✗ |
230 |
v.push_back((Type)i); |
42 |
|
|
} |
43 |
|
23 |
return v; |
44 |
|
|
} |
45 |
|
|
static const std::vector<Type> all; |
46 |
|
|
}; |
47 |
|
|
|
48 |
|
|
std::ostream& operator<<(std::ostream& os, const ContactModelTypes::Type& type); |
49 |
|
|
|
50 |
|
|
class ContactModelFactory { |
51 |
|
|
public: |
52 |
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
53 |
|
|
|
54 |
|
|
explicit ContactModelFactory(); |
55 |
|
|
~ContactModelFactory(); |
56 |
|
|
|
57 |
|
|
boost::shared_ptr<crocoddyl::ContactModelAbstract> create( |
58 |
|
|
ContactModelTypes::Type contact_type, |
59 |
|
|
PinocchioModelTypes::Type model_type, Eigen::Vector2d gains, |
60 |
|
|
const std::string frame_name = std::string(""), |
61 |
|
|
const std::size_t nu = std::numeric_limits<std::size_t>::max()) const; |
62 |
|
|
}; |
63 |
|
|
|
64 |
|
|
boost::shared_ptr<crocoddyl::ContactModelAbstract> create_random_contact(); |
65 |
|
|
|
66 |
|
|
} // namespace unittest |
67 |
|
|
} // namespace crocoddyl |
68 |
|
|
|
69 |
|
|
#endif // CROCODDYL_CONTACTS_FACTORY_HPP_ |