Directory: | ./ |
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File: | tests/configuration-shooters.cc |
Date: | 2024-12-13 16:14:03 |
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1 | // Copyright (c) 2018, Joseph Mirabel | ||
2 | // Authors: Joseph Mirabel (joseph.mirabel@laas.fr) | ||
3 | // | ||
4 | |||
5 | // Redistribution and use in source and binary forms, with or without | ||
6 | // modification, are permitted provided that the following conditions are | ||
7 | // met: | ||
8 | // | ||
9 | // 1. Redistributions of source code must retain the above copyright | ||
10 | // notice, this list of conditions and the following disclaimer. | ||
11 | // | ||
12 | // 2. Redistributions in binary form must reproduce the above copyright | ||
13 | // notice, this list of conditions and the following disclaimer in the | ||
14 | // documentation and/or other materials provided with the distribution. | ||
15 | // | ||
16 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
17 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
18 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
19 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
20 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
21 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
22 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
23 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
24 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
26 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
27 | // DAMAGE. | ||
28 | |||
29 | #define BOOST_TEST_MODULE configuration_shooters | ||
30 | #include <boost/test/included/unit_test.hpp> | ||
31 | #include <hpp/core/configuration-shooter/gaussian.hh> | ||
32 | #include <hpp/core/configuration-shooter/uniform-tpl.hh> | ||
33 | #include <hpp/core/configuration-shooter/uniform.hh> | ||
34 | #include <hpp/pinocchio/configuration.hh> | ||
35 | #include <hpp/pinocchio/device.hh> | ||
36 | #include <hpp/pinocchio/simple-device.hh> | ||
37 | #include <hpp/pinocchio/urdf/util.hh> | ||
38 | #include <pinocchio/fwd.hpp> | ||
39 | #include <pinocchio/multibody/model.hpp> | ||
40 | |||
41 | using hpp::pinocchio::DevicePtr_t; | ||
42 | |||
43 | using namespace hpp::core::configurationShooter; | ||
44 | |||
45 | namespace pin_test = hpp::pinocchio::unittest; | ||
46 | |||
47 | 1 | hpp::pinocchio::DevicePtr_t makeDevice() { | |
48 | using namespace hpp::pinocchio; | ||
49 | |||
50 |
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2 | DevicePtr_t device = Device::create("test"); |
51 |
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1 | urdf::loadModelFromString(device, 0, "", "prismatic_x", |
52 | "<robot name='n'><link name='base_link'/></robot>", | ||
53 | ""); | ||
54 | |||
55 | 1 | return device; | |
56 | } | ||
57 | |||
58 | template <typename CS_t> | ||
59 | 6 | void basic_test(CS_t cs, DevicePtr_t robot) { | |
60 |
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6 | hpp::core::Configuration_t q; |
61 |
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66 | for (int i = 0; i < 10; ++i) { |
62 |
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60 | cs->shoot(q); |
63 |
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60 | hpp::pinocchio::ArrayXb unused(robot->numberDof()); |
64 |
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60 | BOOST_CHECK(!hpp::pinocchio::saturate(robot, q, unused)); |
65 | } | ||
66 | 6 | } | |
67 | |||
68 |
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4 | BOOST_AUTO_TEST_CASE(uniform) { |
69 |
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4 | DevicePtr_t robot = pin_test::makeDevice(pin_test::HumanoidSimple); |
70 |
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2 | UniformPtr_t cs = Uniform::create(robot); |
71 | |||
72 |
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2 | basic_test(cs, robot); |
73 | 2 | } | |
74 | |||
75 |
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4 | BOOST_AUTO_TEST_CASE(gaussian) { |
76 |
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4 | DevicePtr_t robot = pin_test::makeDevice(pin_test::HumanoidSimple); |
77 | |||
78 |
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2 | GaussianPtr_t cs = Gaussian::create(robot); |
79 | |||
80 |
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2 | basic_test(cs, robot); |
81 | |||
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2 | cs->sigma(0); |
83 | |||
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2 | hpp::core::Configuration_t q; |
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2 | cs->shoot(q); |
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2 | BOOST_CHECK(q.isApprox(cs->center())); |
87 | 2 | } | |
88 | |||
89 |
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4 | BOOST_AUTO_TEST_CASE(uniform_seedable) { |
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2 | DevicePtr_t robot = makeDevice(); |
91 | |||
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2 | robot->model().lowerPositionLimit[0] = -1.0; |
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2 | robot->model().upperPositionLimit[0] = 1.0; |
94 | |||
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2 | UniformSeedable::Ptr_t shooter = UniformSeedable::create(robot); |
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2 | basic_test(shooter, robot); |
97 | |||
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2 | hpp::core::Configuration_t q; |
99 | |||
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2 | hpp::core::vector_t shoots(100); |
101 | |||
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2 | shooter->seed(0); |
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202 | for (int i = 0; i < shoots.size(); ++i) { |
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200 | shooter->shoot(q); |
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200 | shoots[i] = q[0]; |
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200 | BOOST_CHECK_LE(q[0], 1.0); |
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200 | BOOST_CHECK_GE(q[0], -1.0); |
108 | } | ||
109 | |||
110 | // Check that setting the seed gives the same sequence of random values. | ||
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2 | shooter->seed(0); |
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202 | for (int i = 0; i < shoots.size(); ++i) { |
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200 | shooter->shoot(q); |
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200 | BOOST_CHECK_EQUAL(shoots[i], q[0]); |
115 | } | ||
116 | 2 | } | |
117 |