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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021, University of Edinburgh, University of Trento |
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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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#include "control.hpp" |
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#include "crocoddyl/core/controls/poly-one.hpp" |
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#include "crocoddyl/core/controls/poly-two-rk.hpp" |
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#include "crocoddyl/core/controls/poly-zero.hpp" |
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#include "crocoddyl/core/utils/exception.hpp" |
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namespace crocoddyl { |
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namespace unittest { |
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const std::vector<ControlTypes::Type> ControlTypes::all( |
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ControlTypes::init_all()); |
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std::ostream& operator<<(std::ostream& os, ControlTypes::Type type) { |
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✓✓✓✓
✗✗ |
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switch (type) { |
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case ControlTypes::PolyZero: |
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os << "PolyZero"; |
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break; |
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case ControlTypes::PolyOne: |
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os << "PolyOne"; |
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break; |
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case ControlTypes::PolyTwoRK3: |
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os << "PolyTwoRK3"; |
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break; |
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case ControlTypes::PolyTwoRK4: |
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os << "PolyTwoRK4"; |
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break; |
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case ControlTypes::NbControlTypes: |
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os << "NbControlTypes"; |
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break; |
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default: |
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break; |
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} |
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return os; |
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} |
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ControlFactory::ControlFactory() {} |
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ControlFactory::~ControlFactory() {} |
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boost::shared_ptr<crocoddyl::ControlParametrizationModelAbstract> |
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ControlFactory::create(ControlTypes::Type control_type, |
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const std::size_t nu) const { |
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boost::shared_ptr<crocoddyl::ControlParametrizationModelAbstract> control; |
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✓✓✓✓
✗ |
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switch (control_type) { |
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case ControlTypes::PolyZero: |
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control = |
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✓✗ |
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boost::make_shared<crocoddyl::ControlParametrizationModelPolyZero>( |
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nu); |
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break; |
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case ControlTypes::PolyOne: |
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control = |
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✓✗ |
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boost::make_shared<crocoddyl::ControlParametrizationModelPolyOne>(nu); |
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break; |
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case ControlTypes::PolyTwoRK3: |
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control = |
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boost::make_shared<crocoddyl::ControlParametrizationModelPolyTwoRK>( |
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✓✗ |
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nu, RKType::three); |
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break; |
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case ControlTypes::PolyTwoRK4: |
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control = |
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boost::make_shared<crocoddyl::ControlParametrizationModelPolyTwoRK>( |
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✓✗ |
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nu, RKType::four); |
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break; |
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default: |
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throw_pretty(__FILE__ ": Wrong ControlTypes::Type given"); |
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break; |
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} |
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return control; |
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} |
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} // namespace unittest |
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} // namespace crocoddyl |