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 |
|
|
#include "state.hpp" |
10 |
|
|
|
11 |
|
|
#include <pinocchio/fwd.hpp> |
12 |
|
|
#include <pinocchio/parsers/sample-models.hpp> |
13 |
|
|
#include <pinocchio/parsers/urdf.hpp> |
14 |
|
|
|
15 |
|
|
#include "crocoddyl/core/states/euclidean.hpp" |
16 |
|
|
#include "crocoddyl/core/utils/exception.hpp" |
17 |
|
|
#include "crocoddyl/multibody/states/multibody.hpp" |
18 |
|
|
|
19 |
|
|
namespace crocoddyl { |
20 |
|
|
namespace unittest { |
21 |
|
|
|
22 |
|
|
const std::vector<StateModelTypes::Type> StateModelTypes::all( |
23 |
|
|
StateModelTypes::init_all()); |
24 |
|
|
|
25 |
|
598 |
std::ostream& operator<<(std::ostream& os, StateModelTypes::Type type) { |
26 |
✓✓✓✓
✓✓✓✗
✗ |
598 |
switch (type) { |
27 |
|
2 |
case StateModelTypes::StateVector: |
28 |
|
2 |
os << "StateVector"; |
29 |
|
2 |
break; |
30 |
|
3 |
case StateModelTypes::StateMultibody_Hector: |
31 |
|
3 |
os << "StateMultibody_Hector"; |
32 |
|
3 |
break; |
33 |
|
113 |
case StateModelTypes::StateMultibody_TalosArm: |
34 |
|
113 |
os << "StateMultibody_TalosArm"; |
35 |
|
113 |
break; |
36 |
|
111 |
case StateModelTypes::StateMultibodyContact2D_TalosArm: |
37 |
|
111 |
os << "StateMultibodyContact2D_TalosArm"; |
38 |
|
111 |
break; |
39 |
|
124 |
case StateModelTypes::StateMultibody_HyQ: |
40 |
|
124 |
os << "StateMultibody_HyQ"; |
41 |
|
124 |
break; |
42 |
|
123 |
case StateModelTypes::StateMultibody_Talos: |
43 |
|
123 |
os << "StateMultibody_Talos"; |
44 |
|
123 |
break; |
45 |
|
122 |
case StateModelTypes::StateMultibody_RandomHumanoid: |
46 |
|
122 |
os << "StateMultibody_RandomHumanoid"; |
47 |
|
122 |
break; |
48 |
|
|
case StateModelTypes::NbStateModelTypes: |
49 |
|
|
os << "NbStateModelTypes"; |
50 |
|
|
break; |
51 |
|
|
default: |
52 |
|
|
break; |
53 |
|
|
} |
54 |
|
598 |
return os; |
55 |
|
|
} |
56 |
|
|
|
57 |
|
8653 |
StateModelFactory::StateModelFactory() {} |
58 |
|
8653 |
StateModelFactory::~StateModelFactory() {} |
59 |
|
|
|
60 |
|
8653 |
boost::shared_ptr<crocoddyl::StateAbstract> StateModelFactory::create( |
61 |
|
|
StateModelTypes::Type state_type) const { |
62 |
|
8653 |
boost::shared_ptr<pinocchio::Model> model; |
63 |
|
8653 |
boost::shared_ptr<crocoddyl::StateAbstract> state; |
64 |
✓✓✓✓
✓✓✓✗
|
8653 |
switch (state_type) { |
65 |
|
18 |
case StateModelTypes::StateVector: |
66 |
✓✗ |
18 |
state = boost::make_shared<crocoddyl::StateVector>(80); |
67 |
|
18 |
break; |
68 |
|
624 |
case StateModelTypes::StateMultibody_Hector: |
69 |
✓✗✓✗
|
624 |
model = PinocchioModelFactory(PinocchioModelTypes::Hector).create(); |
70 |
✓✗ |
624 |
state = boost::make_shared<crocoddyl::StateMultibody>(model); |
71 |
|
624 |
break; |
72 |
|
2895 |
case StateModelTypes::StateMultibody_TalosArm: |
73 |
✓✗✓✗
|
2895 |
model = PinocchioModelFactory(PinocchioModelTypes::TalosArm).create(); |
74 |
✓✗ |
2895 |
state = boost::make_shared<crocoddyl::StateMultibody>(model); |
75 |
|
2895 |
break; |
76 |
|
995 |
case StateModelTypes::StateMultibodyContact2D_TalosArm: |
77 |
✓✗✓✗
|
995 |
model = PinocchioModelFactory(PinocchioModelTypes::TalosArm).create(); |
78 |
✓✗ |
995 |
state = boost::make_shared<crocoddyl::StateMultibody>(model); |
79 |
|
995 |
break; |
80 |
|
1656 |
case StateModelTypes::StateMultibody_HyQ: |
81 |
✓✗✓✗
|
1656 |
model = PinocchioModelFactory(PinocchioModelTypes::HyQ).create(); |
82 |
✓✗ |
1656 |
state = boost::make_shared<crocoddyl::StateMultibody>(model); |
83 |
|
1656 |
break; |
84 |
|
1751 |
case StateModelTypes::StateMultibody_Talos: |
85 |
✓✗✓✗
|
1751 |
model = PinocchioModelFactory(PinocchioModelTypes::Talos).create(); |
86 |
✓✗ |
1751 |
state = boost::make_shared<crocoddyl::StateMultibody>(model); |
87 |
|
1751 |
break; |
88 |
|
714 |
case StateModelTypes::StateMultibody_RandomHumanoid: |
89 |
|
|
model = |
90 |
✓✗✓✗
|
714 |
PinocchioModelFactory(PinocchioModelTypes::RandomHumanoid).create(); |
91 |
✓✗ |
714 |
state = boost::make_shared<crocoddyl::StateMultibody>(model); |
92 |
|
714 |
break; |
93 |
|
|
default: |
94 |
|
|
throw_pretty(__FILE__ ": Wrong StateModelTypes::Type given"); |
95 |
|
|
break; |
96 |
|
|
} |
97 |
|
17306 |
return state; |
98 |
|
|
} |
99 |
|
|
|
100 |
|
|
} // namespace unittest |
101 |
|
|
} // namespace crocoddyl |