1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
2 |
|
|
// BSD 3-Clause License |
3 |
|
|
// |
4 |
|
|
// Copyright (C) 2019-2022, LAAS-CNRS, University of Edinburgh |
5 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
6 |
|
|
// All rights reserved. |
7 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
8 |
|
|
|
9 |
|
|
#ifndef CROCODDYL_COST_FACTORY_HPP_ |
10 |
|
|
#define CROCODDYL_COST_FACTORY_HPP_ |
11 |
|
|
|
12 |
|
|
#include "activation.hpp" |
13 |
|
|
#include "crocoddyl/core/cost-base.hpp" |
14 |
|
|
#include "crocoddyl/core/costs/cost-sum.hpp" |
15 |
|
|
#include "crocoddyl/core/numdiff/cost.hpp" |
16 |
|
|
#include "crocoddyl/multibody/states/multibody.hpp" |
17 |
|
|
#include "state.hpp" |
18 |
|
|
|
19 |
|
|
namespace crocoddyl { |
20 |
|
|
namespace unittest { |
21 |
|
|
|
22 |
|
|
struct CostModelTypes { |
23 |
|
|
enum Type { |
24 |
|
|
CostModelResidualState, |
25 |
|
|
CostModelResidualControl, |
26 |
|
|
CostModelResidualCoMPosition, |
27 |
|
|
// CostModelResidualCentroidalMomentum, // @todo Figure out the pinocchio |
28 |
|
|
// callbacks. |
29 |
|
|
CostModelResidualFramePlacement, |
30 |
|
|
CostModelResidualFrameRotation, |
31 |
|
|
CostModelResidualFrameTranslation, |
32 |
|
|
CostModelResidualFrameVelocity, |
33 |
|
|
NbCostModelTypes |
34 |
|
|
}; |
35 |
|
23 |
static std::vector<Type> init_all() { |
36 |
|
23 |
std::vector<Type> v; |
37 |
✓✗ |
23 |
v.reserve(NbCostModelTypes); |
38 |
✓✓ |
184 |
for (int i = 0; i < NbCostModelTypes; ++i) { |
39 |
✓✗ |
161 |
v.push_back((Type)i); |
40 |
|
|
} |
41 |
|
23 |
return v; |
42 |
|
|
} |
43 |
|
|
static const std::vector<Type> all; |
44 |
|
|
}; |
45 |
|
|
|
46 |
|
|
struct CostModelNoFFTypes { |
47 |
|
|
enum Type { CostModelResidualControlGrav, NbCostModelNoFFTypes }; |
48 |
|
23 |
static std::vector<Type> init_all() { |
49 |
|
23 |
std::vector<Type> v; |
50 |
|
23 |
v.clear(); |
51 |
✓✓ |
46 |
for (int i = 0; i < NbCostModelNoFFTypes; ++i) { |
52 |
✓✗ |
23 |
v.push_back((Type)i); |
53 |
|
|
} |
54 |
|
23 |
return v; |
55 |
|
|
} |
56 |
|
|
static const std::vector<Type> all; |
57 |
|
|
}; |
58 |
|
|
|
59 |
|
|
#ifdef PINOCCHIO_WITH_HPP_FCL |
60 |
|
|
struct CostModelCollisionTypes { |
61 |
|
|
enum Type { CostModelResidualPairCollision, NbCostModelCollisionTypes }; |
62 |
|
23 |
static std::vector<Type> init_all() { |
63 |
|
23 |
std::vector<Type> v; |
64 |
|
23 |
v.clear(); |
65 |
✓✓ |
46 |
for (int i = 0; i < NbCostModelCollisionTypes; ++i) { |
66 |
✓✗ |
23 |
v.push_back((Type)i); |
67 |
|
|
} |
68 |
|
23 |
return v; |
69 |
|
|
} |
70 |
|
|
static const std::vector<Type> all; |
71 |
|
|
}; |
72 |
|
|
#endif // PINOCCHIO_WITH_HPP_FCL |
73 |
|
|
|
74 |
|
|
std::ostream& operator<<(std::ostream& os, CostModelTypes::Type type); |
75 |
|
|
std::ostream& operator<<(std::ostream& os, CostModelNoFFTypes::Type type); |
76 |
|
|
#ifdef PINOCCHIO_WITH_HPP_FCL |
77 |
|
|
std::ostream& operator<<(std::ostream& os, CostModelCollisionTypes::Type type); |
78 |
|
|
#endif // PINOCCHIO_WITH_HPP_FCL |
79 |
|
|
|
80 |
|
|
class CostModelFactory { |
81 |
|
|
public: |
82 |
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
83 |
|
|
|
84 |
|
|
typedef crocoddyl::MathBaseTpl<double> MathBase; |
85 |
|
|
typedef typename MathBase::Vector6s Vector6d; |
86 |
|
|
typedef pinocchio::GeometryObject::CollisionGeometryPtr CollisionGeometryPtr; |
87 |
|
|
|
88 |
|
|
explicit CostModelFactory(); |
89 |
|
|
~CostModelFactory(); |
90 |
|
|
|
91 |
|
|
boost::shared_ptr<crocoddyl::CostModelAbstract> create( |
92 |
|
|
CostModelTypes::Type cost_type, StateModelTypes::Type state_type, |
93 |
|
|
ActivationModelTypes::Type activation_type, |
94 |
|
|
std::size_t nu = std::numeric_limits<std::size_t>::max()) const; |
95 |
|
|
boost::shared_ptr<crocoddyl::CostModelAbstract> create( |
96 |
|
|
CostModelNoFFTypes::Type cost_type, |
97 |
|
|
ActivationModelTypes::Type activation_type, |
98 |
|
|
std::size_t nu = std::numeric_limits<std::size_t>::max()) const; |
99 |
|
|
|
100 |
|
|
#ifdef PINOCCHIO_WITH_HPP_FCL |
101 |
|
|
boost::shared_ptr<crocoddyl::CostModelAbstract> create( |
102 |
|
|
CostModelCollisionTypes::Type cost_type, StateModelTypes::Type state_type, |
103 |
|
|
std::size_t nu = std::numeric_limits<std::size_t>::max()) const; |
104 |
|
|
#endif // PINOCCHIO_WITH_HPP_FCL |
105 |
|
|
}; |
106 |
|
|
|
107 |
|
|
boost::shared_ptr<crocoddyl::CostModelAbstract> create_random_cost( |
108 |
|
|
StateModelTypes::Type state_type, |
109 |
|
|
std::size_t nu = std::numeric_limits<std::size_t>::max()); |
110 |
|
|
} // namespace unittest |
111 |
|
|
} // namespace crocoddyl |
112 |
|
|
|
113 |
|
|
#endif // CROCODDYL_COST_FACTORY_HPP_ |