Directory: | ./ |
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File: | tests/test-transition-quasi-static.cpp |
Date: | 2025-03-18 04:20:50 |
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Lines: | 86 | 86 | 100.0% |
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1 | // | ||
2 | // Copyright (c) 2018 CNRS | ||
3 | // Authors: Pierre Fernbach | ||
4 | // | ||
5 | // This file is part of bezier_COM_traj | ||
6 | // hpp-core is free software: you can redistribute it | ||
7 | // and/or modify it under the terms of the GNU Lesser General Public | ||
8 | // License as published by the Free Software Foundation, either version | ||
9 | // 3 of the License, or (at your option) any later version. | ||
10 | // | ||
11 | // hpp-core is distributed in the hope that it will be | ||
12 | // useful, but WITHOUT ANY WARRANTY; without even the implied warranty | ||
13 | // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | ||
14 | // General Lesser Public License for more details. You should have | ||
15 | // received a copy of the GNU Lesser General Public License along with | ||
16 | // hpp-core If not, see | ||
17 | // <http://www.gnu.org/licenses/>. | ||
18 | |||
19 | #define BOOST_TEST_MODULE transition - quasiStatic | ||
20 | #include <boost/test/included/unit_test.hpp> | ||
21 | #include <hpp/bezier-com-traj/common_solve_methods.hh> | ||
22 | #include <hpp/bezier-com-traj/solve.hh> | ||
23 | #include <hpp/centroidal-dynamics/centroidal_dynamics.hh> | ||
24 | |||
25 | #include "test_helper.hh" | ||
26 | |||
27 | BOOST_AUTO_TEST_SUITE(quasiStatic) | ||
28 | |||
29 |
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4 | BOOST_AUTO_TEST_CASE(single_support) { |
30 | // check if state valid with only one contact : | ||
31 |
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2 | MatrixX3 normal(1, 3); |
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2 | normal << 0, 0, 1; |
33 |
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2 | MatrixX3 position(1, 3); |
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2 | position << 0, 0, 0; |
35 | std::pair<MatrixX3, VectorX> Ab = generateConstraints( | ||
36 |
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4 | normal, position, Matrix3::Identity(), Vector3::Zero()); |
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2 | std::pair<Matrix3, Vector3> Hg = computeCost(); |
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2 | Vector3 init = Vector3::Zero(); |
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4 | bezier_com_traj::ResultData res = bezier_com_traj::solve(Ab, Hg, init); |
40 |
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2 | BOOST_CHECK(res.success_); |
41 | |||
42 | // sample positions for second foot inside kinematics constraints and check | ||
43 | // for feasibility : | ||
44 | 2 | } | |
45 | |||
46 |
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4 | BOOST_AUTO_TEST_CASE(quasiStatic_exist) { |
47 | // sample positions for second foot inside kinematics constraints and check | ||
48 | // for feasibility : Vector3 firstLeg_n(0,0,1); Vector3 firstLeg_p(0,0,0); | ||
49 | |||
50 |
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1002 | for (size_t i = 0; i < 500; ++i) { |
51 |
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1000 | MatrixX3 normal(1, 3); |
52 |
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1000 | MatrixX3 position(1, 3); |
53 | // normal.block<1,3>(0,0) = firstLeg_n; | ||
54 | // position.block<1,3>(0,0) = firstLeg_p; | ||
55 | 1000 | double x = fRandom(KIN_X_MIN, KIN_X_MAX); | |
56 | 1000 | double y = fRandom(KIN_Y_MIN, KIN_Y_MAX); | |
57 |
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1000 | normal.block<1, 3>(0, 0) = Vector3(0, 0, 1); |
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1000 | position.block<1, 3>(0, 0) = Vector3(x, y, 0.); |
59 | |||
60 | std::pair<MatrixX3, VectorX> Ab = generateConstraints( | ||
61 |
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2000 | normal, position, Matrix3::Identity(), Vector3::Zero()); |
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1000 | std::pair<Matrix3, Vector3> Hg = computeCost(); |
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1000 | Vector3 init = Vector3::Zero(); |
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2000 | bezier_com_traj::ResultData res = bezier_com_traj::solve(Ab, Hg, init); |
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1000 | BOOST_CHECK(res.success_); |
66 | 1000 | } | |
67 | 2 | } | |
68 | |||
69 |
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4 | BOOST_AUTO_TEST_CASE(quasiStatic_empty_upX) { |
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1000 | MatrixX3 normal(1, 3); |
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1000 | MatrixX3 position(1, 3); |
73 | // normal.block<1,3>(0,0) = firstLeg_n; | ||
74 | // position.block<1,3>(0,0) = firstLeg_p; | ||
75 | 1000 | double x = fRandom(KIN_X_MAX + (LX / 2.) + 0.001, 10); | |
76 | 1000 | double y = fRandom(KIN_Y_MIN, KIN_Y_MAX); | |
77 |
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1000 | normal.block<1, 3>(0, 0) = Vector3(0, 0, 1); |
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1000 | position.block<1, 3>(0, 0) = Vector3(x, y, 0.); |
79 | |||
80 | std::pair<MatrixX3, VectorX> Ab = generateConstraints( | ||
81 |
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2000 | normal, position, Matrix3::Identity(), Vector3::Zero()); |
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1000 | std::pair<Matrix3, Vector3> Hg = computeCost(); |
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1000 | Vector3 init = Vector3::Zero(); |
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2000 | bezier_com_traj::ResultData res = bezier_com_traj::solve(Ab, Hg, init); |
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1000 | BOOST_CHECK(!res.success_); |
86 | 1000 | } | |
87 | 2 | } | |
88 | |||
89 |
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4 | BOOST_AUTO_TEST_CASE(quasiStatic_empty_downX) { |
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1000 | MatrixX3 normal(1, 3); |
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1000 | MatrixX3 position(1, 3); |
93 | // normal.block<1,3>(0,0) = firstLeg_n; | ||
94 | // position.block<1,3>(0,0) = firstLeg_p; | ||
95 | 1000 | double x = fRandom(-10, KIN_X_MIN - (LX / 2.) - 0.001); | |
96 | 1000 | double y = fRandom(KIN_Y_MIN, KIN_Y_MAX); | |
97 |
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1000 | normal.block<1, 3>(0, 0) = Vector3(0, 0, 1); |
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1000 | position.block<1, 3>(0, 0) = Vector3(x, y, 0.); |
99 | |||
100 | std::pair<MatrixX3, VectorX> Ab = generateConstraints( | ||
101 |
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2000 | normal, position, Matrix3::Identity(), Vector3::Zero()); |
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1000 | std::pair<Matrix3, Vector3> Hg = computeCost(); |
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1000 | Vector3 init = Vector3::Zero(); |
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2000 | bezier_com_traj::ResultData res = bezier_com_traj::solve(Ab, Hg, init); |
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1000 | BOOST_CHECK(!res.success_); |
106 | 1000 | } | |
107 | 2 | } | |
108 | |||
109 |
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4 | BOOST_AUTO_TEST_CASE(quasiStatic_empty_downY) { |
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1000 | MatrixX3 normal(1, 3); |
112 |
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1000 | MatrixX3 position(1, 3); |
113 | // normal.block<1,3>(0,0) = firstLeg_n; | ||
114 | // position.block<1,3>(0,0) = firstLeg_p; | ||
115 | 1000 | double x = fRandom(KIN_X_MIN, KIN_X_MAX); | |
116 | 1000 | double y = fRandom(-10, KIN_Y_MIN - (LY / 2.) - 0.001); | |
117 |
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1000 | normal.block<1, 3>(0, 0) = Vector3(0, 0, 1); |
118 |
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1000 | position.block<1, 3>(0, 0) = Vector3(x, y, 0.); |
119 | |||
120 | std::pair<MatrixX3, VectorX> Ab = generateConstraints( | ||
121 |
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2000 | normal, position, Matrix3::Identity(), Vector3::Zero()); |
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1000 | std::pair<Matrix3, Vector3> Hg = computeCost(); |
123 |
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1000 | Vector3 init = Vector3::Zero(); |
124 |
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2000 | bezier_com_traj::ResultData res = bezier_com_traj::solve(Ab, Hg, init); |
125 |
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1000 | BOOST_CHECK(!res.success_); |
126 | 1000 | } | |
127 | 2 | } | |
128 | |||
129 |
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4 | BOOST_AUTO_TEST_CASE(quasiStatic_empty_upY) { |
130 |
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1002 | for (size_t i = 0; i < 500; ++i) { |
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1000 | MatrixX3 normal(1, 3); |
132 |
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1000 | MatrixX3 position(1, 3); |
133 | // normal.block<1,3>(0,0) = firstLeg_n; | ||
134 | // position.block<1,3>(0,0) = firstLeg_p; | ||
135 | 1000 | double x = fRandom(KIN_X_MIN, KIN_X_MAX); | |
136 | 1000 | double y = fRandom(KIN_Y_MAX + (LY / 2.) + 0.001, 10); | |
137 |
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1000 | normal.block<1, 3>(0, 0) = Vector3(0, 0, 1); |
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1000 | position.block<1, 3>(0, 0) = Vector3(x, y, 0.); |
139 | |||
140 | std::pair<MatrixX3, VectorX> Ab = generateConstraints( | ||
141 |
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2000 | normal, position, Matrix3::Identity(), Vector3::Zero()); |
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1000 | std::pair<Matrix3, Vector3> Hg = computeCost(); |
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1000 | Vector3 init = Vector3::Zero(); |
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2000 | bezier_com_traj::ResultData res = bezier_com_traj::solve(Ab, Hg, init); |
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1000 | BOOST_CHECK(!res.success_); |
146 | 1000 | } | |
147 | 2 | } | |
148 | |||
149 | BOOST_AUTO_TEST_SUITE_END() | ||
150 |