GCC Code Coverage Report

Directory: ./
File: tests/path-projectors.cc
Date: 2025-03-10 11:18:21
Exec Total Coverage
Lines: 104 136 76.5%
Branches: 166 445 37.3%
Line Branch Exec Source
1 // Copyright (c) 2016, 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 pathProjector
30 #include <boost/mpl/list.hpp>
31 #include <boost/test/included/unit_test.hpp>
32 #include <boost/test/unit_test.hpp>
33 #include <pinocchio/fwd.hpp>
34
35 // Boost version 1.54
36 // Cannot include boost CPU timers
37 // #include <boost/timer/timer.hpp>
38 // because the original timers are already included by
39 // the unit test framework
40 // #include <boost/timer.hh>
41
42 // Force benchmark output
43 #define HPP_ENABLE_BENCHMARK 1
44 #include <hpp/constraints/differentiable-function.hh>
45 #include <hpp/constraints/implicit.hh>
46 #include <hpp/core/config-projector.hh>
47 #include <hpp/core/constraint-set.hh>
48 #include <hpp/core/interpolated-path.hh>
49 #include <hpp/core/path-projector/global.hh>
50 #include <hpp/core/path-projector/progressive.hh>
51 #include <hpp/core/path-projector/recursive-hermite.hh>
52 #include <hpp/core/path/hermite.hh>
53 #include <hpp/core/problem.hh>
54 #include <hpp/core/steering-method/hermite.hh>
55 #include <hpp/core/steering-method/straight.hh>
56 #include <hpp/core/straight-path.hh>
57 #include <hpp/pinocchio/device.hh>
58 #include <hpp/pinocchio/urdf/util.hh>
59 #include <hpp/util/timer.hh>
60
61 using hpp::constraints::EqualToZero;
62 using hpp::constraints::Implicit;
63
64 using namespace hpp::core;
65 using namespace hpp::pinocchio;
66
67 6 DevicePtr_t createRobot() {
68 std::string urdf(
69 "<robot name='test'>"
70 "<link name='link1'/>"
71 "<link name='link2'/>"
72 "<link name='link3'/>"
73 "<joint name='tx' type='prismatic'>"
74 "<parent link='link1'/>"
75 "<child link='link2'/>"
76 "<limit effort='30' velocity='1.0' lower='-4' upper='4'/>"
77 "</joint>"
78 "<joint name='ty' type='prismatic'>"
79 "<axis xyz='0 1 0'/>"
80 "<parent link='link2'/>"
81 "<child link='link3'/>"
82 "<limit effort='30' velocity='1.0' lower='-4' upper='4'/>"
83 "</joint>"
84
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 6 "</robot>");
85
86
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 12 DevicePtr_t robot = Device::create("test");
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 6 urdf::loadModelFromString(robot, 0, "", "anchor", urdf, "");
88 12 return robot;
89 6 }
90
91 6 ConstraintSetPtr_t createConstraints(DevicePtr_t r) {
92 ConfigProjectorPtr_t proj =
93
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 12 ConfigProjector::create(r, "Polynomial projector", 1e-4, 20);
94
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 12 ConstraintSetPtr_t set = ConstraintSet::create(r, "Set");
95
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 6 set->addConstraint(proj);
96 12 return set;
97 6 }
98
99 class Polynomial : public DifferentiableFunction {
100 public:
101 6 Polynomial(DevicePtr_t robot)
102 6 : DifferentiableFunction(robot->configSize(), robot->numberDof(),
103
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 12 LiegroupSpace::R1(), "Polynomial"),
104
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 18 coefs_(vector_t::Ones(robot->configSize())) {}
105
106 vector_t coefs_;
107
108 protected:
109 13935244 void impl_compute(LiegroupElementRef result, vectorIn_t argument) const {
110
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 13935244 result.vector()[0] = argument.cwiseProduct(argument).dot(coefs_) - 1;
111 13935244 }
112 4650348 void impl_jacobian(matrixOut_t jacobian, vectorIn_t arg) const {
113
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 4650348 jacobian.row(0) = 2 * arg.cwiseProduct(coefs_);
114 4650348 }
115 };
116
117 typedef std::shared_ptr<Polynomial> PolynomialPtr_t;
118
119 /*
120 bool checkContinuity (PathPtr_t path) {
121 const value_type stepPath = path->length () / (100 - 1);
122 Configuration_t q = path->initial(), qq = path->initial();
123 vector_t v1 (func->outputSize()), v2(func->outputSize());
124 std::cerr << std::fixed << std::showpos << std::setprecision (4);
125 const char* sep = "\t| ";
126 for (std::size_t i = 0; i < 100; ++i) {
127 if (!(*path) (q, (value_type)i * stepPath))
128 std::cerr << "Could not project path at " << (value_type)i*stepPath
129 << "\n";
130 if (!(*projection) (qq, (value_type) i * stepProj))
131 std::cerr << "Could not project projection at "
132 << (value_type) i*stepProj << "\n";
133 (*func) (v1, q);
134 (*func) (v2, qq);
135 std::cerr << q.transpose () << sep << v1
136 << sep << qq.transpose () << sep << v2 << "\n";
137 }
138
139 // Analyse projection
140 if (!HPP_DYNAMIC_PTR_CAST (InterpolatedPath, projection)) {
141 std::cout << "Path is not an InterpolatedPath\n";
142 std::cerr
143 << projection->timeRange().first << sep << projection->initial
144 ().transpose() << '\n'
145 << projection->timeRange().first + projection->timeRange().second << sep
146 << projection->end ().transpose() << '\n'; return;
147 }
148 InterpolatedPath& p = *(HPP_DYNAMIC_PTR_CAST (InterpolatedPath, projection));
149 typedef InterpolatedPath::InterpolationPoints_t InterpolationPoints_t;
150 const InterpolationPoints_t& points = p.interpolationPoints ();
151 std::cout << "InterpolatedPath: " << points.size() << " interpolation
152 points.\n"; for (InterpolationPoints_t::const_iterator it = points.begin(); it
153 != points.end(); ++it) { std::cerr << it->first << sep << it->second.transpose()
154 << '\n';
155 }
156 }
157 // */
158 ✗ void displayPaths(PathPtr_t path, PathPtr_t projection,
159 DifferentiableFunctionPtr_t func) {
160 ✗ const value_type stepPath = path->length() / (100 - 1);
161 ✗ const value_type stepProj = projection->length() / (100 - 1);
162 ✗ Configuration_t q = path->initial(), qq = path->initial();
163 ✗ LiegroupElement v1(func->outputSpace()), v2(func->outputSpace());
164 ✗ std::cerr << std::fixed << std::showpos << std::setprecision(4);
165 ✗ const char* sep = "\t| ";
166 ✗ for (std::size_t i = 0; i < 100; ++i) {
167 ✗ if (!path->eval(q, (value_type)i * stepPath))
168 ✗ std::cerr << "Could not project path at " << (value_type)i * stepPath
169 ✗ << "\n";
170 ✗ if (!projection->eval(qq, (value_type)i * stepProj))
171 ✗ std::cerr << "Could not project projection at "
172 ✗ << (value_type)i * stepProj << "\n";
173 ✗ func->value(v1, q);
174 ✗ func->value(v2, qq);
175 ✗ std::cerr << q.transpose() << sep << v1 << sep << qq.transpose() << sep
176 ✗ << v2 << "\n";
177 }
178
179 // Analyse projection
180 ✗ if (!HPP_DYNAMIC_PTR_CAST(InterpolatedPath, projection)) {
181 ✗ std::cout << "Path is not an InterpolatedPath\n";
182 ✗ std::cerr << projection->timeRange().first << sep
183 ✗ << projection->initial().transpose() << '\n'
184 ✗ << projection->timeRange().first + projection->timeRange().second
185 ✗ << sep << projection->end().transpose() << '\n';
186 ✗ return;
187 }
188 ✗ InterpolatedPath& p = *(HPP_DYNAMIC_PTR_CAST(InterpolatedPath, projection));
189 typedef InterpolatedPath::InterpolationPoints_t InterpolationPoints_t;
190 ✗ const InterpolationPoints_t& points = p.interpolationPoints();
191 ✗ std::cout << "InterpolatedPath: " << points.size()
192 ✗ << " interpolation points.\n";
193 ✗ for (InterpolationPoints_t::const_iterator it = points.begin();
194 ✗ it != points.end(); ++it) {
195 ✗ std::cerr << it->first << sep << it->second.transpose() << '\n';
196 }
197 }
198
199 struct traits_circle {
200 3 static DifferentiableFunctionPtr_t func(DevicePtr_t dev) {
201
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 3 return PolynomialPtr_t(new Polynomial(dev));
202 }
203 48 static void make_conf(ConfigurationOut_t q1, ConfigurationOut_t q2,
204 const int index) {
205
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 48 switch (index) {
206 6 case 0:
207
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 6 q1 << 0, 1;
208
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 6 q2 << 1, 0;
209 6 break;
210 6 case 1:
211
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 6 q1 << 1, 0;
212
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 6 q2 << -1, 0;
213 6 break;
214 6 case 2: {
215 6 double c = -0.99;
216
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 6 q1 << 1, 0;
217
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 6 q2 << c, sqrt(1 - c * c);
218 6 break;
219 }
220 6 case 3: {
221 6 double c = -0.9;
222
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 6 q1 << 1, 0;
223
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 6 q2 << c, sqrt(1 - c * c);
224 6 break;
225 }
226 6 case 4: {
227 6 double c = -0.85;
228
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 6 q1 << 1, 0;
229
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 6 q2 << c, sqrt(1 - c * c);
230 6 break;
231 }
232 6 case 5: {
233 6 double c = -0.8;
234
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 6 q1 << 1, 0;
235
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 6 q2 << c, sqrt(1 - c * c);
236 6 break;
237 }
238 6 case 6: {
239 6 double c = -0.75;
240
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 6 q2 << c, sqrt(1 - c * c);
242 6 break;
243 }
244 6 case 7: {
245 6 double c = -0.7;
246
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247
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 6 q2 << c, sqrt(1 - c * c);
248 6 break;
249 }
250 }
251 48 }
252 static const int NB_CONFS;
253 static const value_type K;
254 static const char* _func;
255 };
256 struct traits_parabola {
257 3 static DifferentiableFunctionPtr_t func(DevicePtr_t dev) {
258
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 3 PolynomialPtr_t parabola(new Polynomial(dev));
259
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 3 parabola->coefs_(1) = 0;
260 6 return parabola;
261 3 }
262 48 static void make_conf(ConfigurationOut_t q1, ConfigurationOut_t q2,
263 const int index) {
264
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 48 q1 << 1, 0;
265
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 48 q2 << -1, (value_type)(2 * index) / (NB_CONFS - 1);
266 // switch (index) {
267 // case 0: q1 << 1,0; q2 << -1,0; break; // Should be really fast
268 // case 1: q1 << 1,0; q2 << -1,1; break; // Should be slower
269 // }
270 48 }
271 static const int NB_CONFS;
272 static const value_type K;
273 static const char* _func;
274 };
275 const int traits_circle::NB_CONFS = 8;
276 const value_type traits_circle::K = 2.001;
277 const char* traits_circle::_func = "circle";
278 const int traits_parabola::NB_CONFS = 8;
279 const value_type traits_parabola::K = 2 * sqrt(2);
280 const char* traits_parabola::_func = "parabola";
281
282 struct traits_progressive {
283 typedef pathProjector::Progressive Proj_t;
284 typedef pathProjector::ProgressivePtr_t ProjPtr_t;
285 typedef steeringMethod::Straight SM_t;
286 static const value_type projection_step;
287 static const char* _proj;
288 };
289 struct traits_global {
290 typedef pathProjector::Global Proj_t;
291 typedef pathProjector::GlobalPtr_t ProjPtr_t;
292 typedef steeringMethod::Straight SM_t;
293 static const value_type projection_step;
294 static const char* _proj;
295 };
296 struct traits_hermite {
297 typedef pathProjector::RecursiveHermite Proj_t;
298 typedef pathProjector::RecursiveHermitePtr_t ProjPtr_t;
299 typedef steeringMethod::Hermite SM_t;
300 static const value_type projection_step;
301 static const char* _proj;
302 };
303 const value_type traits_progressive::projection_step = 0.1;
304 const value_type traits_global ::projection_step = 0.1;
305 const value_type traits_hermite ::projection_step = 2;
306 const char* traits_progressive::_proj = "progressive";
307 const char* traits_global ::_proj = "global";
308 const char* traits_hermite ::_proj = "hermite";
309
310 struct traits_global_circle : traits_global, traits_circle {};
311 struct traits_global_parabola : traits_global, traits_parabola {};
312 struct traits_progressive_circle : traits_progressive, traits_circle {};
313 struct traits_progressive_parabola : traits_progressive, traits_parabola {};
314 struct traits_hermite_circle : traits_hermite, traits_circle {};
315 struct traits_hermite_parabola : traits_hermite, traits_parabola {};
316
317 typedef boost::mpl::list<traits_global_circle, traits_progressive_circle,
318 traits_hermite_circle, traits_global_parabola,
319 traits_progressive_parabola, traits_hermite_parabola>
320 test_types;
321
322
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 24 BOOST_AUTO_TEST_CASE_TEMPLATE(projectors, traits, test_types) {
323
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 12 DevicePtr_t dev = createRobot();
324
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 12 BOOST_REQUIRE(dev);
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 12 ProblemPtr_t problem = Problem::create(dev);
326
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 12 ConstraintSetPtr_t c = createConstraints(dev);
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 12 DifferentiableFunctionPtr_t func = traits::func(dev);
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 36 c->configProjector()->add(Implicit::create(
330
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 24 func, ComparisonTypes_t(func->outputSpace()->nv(), EqualToZero)));
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 12 problem->steeringMethod(traits::SM_t::create(problem));
332 12 problem->steeringMethod()->constraints(c);
333
334
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 36 for (int c = 0; c < 2; ++c) {
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 24 if (c == 0)
336
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 24 problem->setParameter("PathProjection/HessianBound",
337
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 24 Parameter((value_type)-1));
338 else
339
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 24 problem->setParameter("PathProjection/HessianBound",
340
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 24 Parameter(traits::K));
341
342
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 24 typename traits::ProjPtr_t projector =
343 traits::Proj_t::create(problem, traits::projection_step);
344
345
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 24 std::cout << "========================================\n";
346
347
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 24 Configuration_t q1(dev->configSize());
348
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 24 Configuration_t q2(dev->configSize());
349
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 216 for (int i = 0; i < traits::NB_CONFS; ++i) {
350 // HPP_DEFINE_TIMECOUNTER(projector);
351
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 192 traits::make_conf(q1, q2, i);
352
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 384 PathPtr_t path = (*problem->steeringMethod())(q1, q2);
353
354 192 PathPtr_t projection;
355 // Averaging the projection
356 bool success;
357
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 576 for (int j = 0; j < 2; ++j) {
358 // HPP_START_TIMECOUNTER (projector);
359
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 384 success = projector->apply(path, projection);
360 // HPP_STOP_TIMECOUNTER (projector);
361 // HPP_DISPLAY_LAST_TIMECOUNTER (projector);
362 }
363
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 192 std::cout << traits::_proj << " " << traits::_func << ": projection of "
364
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 384 << q1.transpose() << " -> " << q2.transpose() << " "
365
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 192 << (success ? "succeeded." : "failed.") << std::endl;
366 // HPP_STREAM_TIMECOUNTER (std::cout, projector) << std::endl;
367 // displayPaths (path, projection, func);
368 }
369 }
370 12 }
371