Directory: | ./ |
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File: | tests/problem.cc |
Date: | 2024-08-10 11:29:48 |
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1 | // Copyright (c) 2017, 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 problem | ||
30 | #include <hpp/fcl/collision_object.h> | ||
31 | #include <hpp/fcl/shape/geometric_shapes.h> | ||
32 | |||
33 | #include <boost/test/included/unit_test.hpp> | ||
34 | #include <hpp/core/problem-solver.hh> | ||
35 | #include <hpp/core/problem.hh> | ||
36 | #include <hpp/core/roadmap.hh> | ||
37 | #include <hpp/pinocchio/joint.hh> | ||
38 | #include <hpp/pinocchio/simple-device.hh> | ||
39 | #include <hpp/pinocchio/urdf/util.hh> | ||
40 | #include <pinocchio/fwd.hpp> | ||
41 | |||
42 | using namespace hpp::core; | ||
43 | using namespace hpp::pinocchio; | ||
44 | |||
45 |
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4 | BOOST_AUTO_TEST_CASE(memory_deallocation) { |
46 |
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2 | ProblemSolverPtr_t ps = ProblemSolver::create(); |
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2 | ps->robot(unittest::makeDevice(unittest::ManipulatorArm2)); |
48 | |||
49 | 2 | ProblemPtr_t problem = ps->problem(); | |
50 |
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2 | DeviceWkPtr_t dev = ps->robot(); |
51 | 2 | SteeringMethodWkPtr_t sm = problem->steeringMethod(); | |
52 | 2 | DistanceWkPtr_t distance = problem->distance(); | |
53 | 2 | RoadmapWkPtr_t roadmap = ps->roadmap(); | |
54 | 2 | problem.reset(); | |
55 | |||
56 |
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2 | delete ps; |
57 | |||
58 |
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2 | BOOST_CHECK_MESSAGE(!dev.lock(), "Device was not deleted"); |
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2 | BOOST_CHECK_MESSAGE(!sm.lock(), "Steering method was not deleted"); |
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2 | BOOST_CHECK_MESSAGE(!distance.lock(), "Distance was not deleted"); |
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2 | BOOST_CHECK_MESSAGE(!roadmap.lock(), "Roadmap was not deleted"); |
62 | 2 | } | |
63 | |||
64 | 3 | void pointMassProblem(const char* steeringMethod, const char* distance, | |
65 | const char* pathValidation, value_type tolerance) { | ||
66 | 3 | const char* urdfString = | |
67 | "<robot name='foo'><link name='base_link'>" | ||
68 | "<collision><geometry><sphere radius='0.01'/></geometry></collision>" | ||
69 | "</link></robot>"; | ||
70 | |||
71 |
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3 | ProblemSolverPtr_t ps = ProblemSolver::create(); |
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3 | ps->maxIterPathPlanning(50); |
73 | |||
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6 | DevicePtr_t robot = Device::create("point"); |
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3 | urdf::loadModelFromString(robot, 0, "", "translation3d", urdfString, ""); |
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3 | BOOST_REQUIRE_EQUAL(robot->configSize(), 3); |
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3 | robot->rootJoint()->lowerBound(0, -10); |
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3 | robot->rootJoint()->lowerBound(1, -10); |
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3 | robot->rootJoint()->lowerBound(2, -10); |
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3 | robot->rootJoint()->upperBound(0, 10); |
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3 | robot->rootJoint()->upperBound(1, 10); |
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3 | robot->rootJoint()->upperBound(2, 10); |
83 | |||
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3 | ps->robot(robot); |
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3 | ps->pathValidationType(pathValidation, tolerance); |
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3 | ps->steeringMethodType(steeringMethod); |
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3 | ps->distanceType(distance); |
88 | |||
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3 | CollisionGeometryPtr_t boxGeom(new hpp::fcl::Box(0.3, 0.3, 0.3)); |
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3 | SE3 boxTf(matrix3_t::Identity(), vector3_t(-2, 0, 0)); |
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3 | ps->addObstacle("box", boxGeom, boxTf, true, true); |
92 | |||
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3 | Configuration_t qinit(robot->neutralConfiguration()); |
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3 | Configuration_t qgoal(robot->neutralConfiguration()); |
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3 | qgoal << -4, 0, 0; |
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3 | ps->initConfig(qinit); |
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3 | ps->addGoalConfig(qgoal); |
99 | |||
100 |
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3 | ps->solve(); |
101 | |||
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3 | BOOST_CHECK(ps->roadmap()->nodes().size() > 2); |
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3 | BOOST_TEST_MESSAGE("Solved the problem with " << ps->roadmap()->nodes().size() |
104 | << " nodes."); | ||
105 | 3 | } | |
106 | |||
107 | 4 | void carLikeProblem(const char* steeringMethod, const char* distance, | |
108 | const char* pathValidation, value_type tolerance) { | ||
109 |
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4 | ProblemSolverPtr_t ps = ProblemSolver::create(); |
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4 | ps->maxIterPathPlanning(50); |
111 | |||
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8 | DevicePtr_t robot = unittest::makeDevice(unittest::CarLike); |
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4 | BOOST_REQUIRE_EQUAL(robot->configSize(), 6); |
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4 | robot->rootJoint()->lowerBound(0, -10); |
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4 | robot->rootJoint()->lowerBound(1, -10); |
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4 | robot->rootJoint()->upperBound(0, 10); |
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4 | robot->rootJoint()->upperBound(1, 10); |
118 | |||
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4 | ps->robot(robot); |
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4 | ps->pathValidationType(pathValidation, tolerance); |
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4 | ps->steeringMethodType(steeringMethod); |
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4 | ps->distanceType(distance); |
123 | |||
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4 | CollisionGeometryPtr_t boxGeom(new hpp::fcl::Box(0.3, 0.3, 0.3)); |
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4 | SE3 boxTf(matrix3_t::Identity(), vector3_t(-2, 0, 0)); |
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4 | ps->addObstacle("box", boxGeom, boxTf, true, true); |
127 | |||
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4 | Configuration_t qinit(robot->neutralConfiguration()); |
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4 | Configuration_t qgoal(robot->neutralConfiguration()); |
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4 | qgoal << -4, 0, 0, 1, 0, 0; |
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4 | ps->initConfig(qinit); |
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4 | ps->addGoalConfig(qgoal); |
134 | |||
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4 | ps->solve(); |
136 | |||
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4 | BOOST_CHECK(ps->roadmap()->nodes().size() > 2); |
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4 | BOOST_TEST_MESSAGE("Solved the problem with " << ps->roadmap()->nodes().size() |
139 | << " nodes."); | ||
140 | 4 | } | |
141 | |||
142 |
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4 | BOOST_AUTO_TEST_CASE(pointMass) { |
143 | 2 | pointMassProblem("Straight", "Weighed", "Discretized", 0.05); | |
144 | 2 | pointMassProblem("Straight", "Weighed", "Progressive", 0.05); | |
145 | 2 | pointMassProblem("Straight", "Weighed", "Dichotomy", 0); | |
146 | 2 | } | |
147 | |||
148 |
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4 | BOOST_AUTO_TEST_CASE(defaultProblem) { |
149 | 2 | const char* urdfString = | |
150 | "<robot name='foo'><link name='base_link'>" | ||
151 | "<collision><geometry><sphere radius='0.01'/></geometry></collision>" | ||
152 | "</link></robot>"; | ||
153 | |||
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4 | DevicePtr_t robot = Device::create("point"); |
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2 | urdf::loadModelFromString(robot, 0, "", "translation3d", urdfString, ""); |
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2 | BOOST_REQUIRE_EQUAL(robot->configSize(), 3); |
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2 | robot->rootJoint()->lowerBound(0, -10); |
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2 | robot->rootJoint()->lowerBound(1, -10); |
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2 | robot->rootJoint()->lowerBound(2, -10); |
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2 | robot->rootJoint()->upperBound(0, 10); |
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2 | robot->rootJoint()->upperBound(1, 10); |
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2 | robot->rootJoint()->upperBound(2, 10); |
163 | |||
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4 | ProblemPtr_t problem = Problem::create(robot); |
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2 | BOOST_REQUIRE(problem->constraints()); |
166 | |||
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2 | Configuration_t qinit(robot->neutralConfiguration()); |
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2 | Configuration_t qgoal(robot->neutralConfiguration()); |
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2 | qgoal << -4, 0, 0; |
170 | |||
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2 | problem->initConfig(qinit); |
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2 | problem->addGoalConfig(qgoal); |
173 | |||
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2 | BOOST_CHECK_NO_THROW(problem->checkProblem()); |
175 | 2 | } | |
176 | |||
177 |
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4 | BOOST_AUTO_TEST_CASE(carlike) { |
178 | 2 | carLikeProblem("Straight", "Weighed", "Discretized", 0.05); | |
179 | 2 | carLikeProblem("Straight", "Weighed", "Progressive", 0.05); | |
180 | 2 | carLikeProblem("Straight", "Weighed", "Dichotomy", 0); | |
181 | 2 | carLikeProblem("ReedsShepp", "ReedsShepp", "Discretized", 0.05); | |
182 | // Not implemented | ||
183 | // carLikeProblem ("ReedsShepp", "ReedsShepp", "Progressive", 0.05); | ||
184 | // Not implemented | ||
185 | // carLikeProblem ("ReedsShepp", "ReedsShepp", "Dichotomy" , 0 ); | ||
186 | 2 | } | |
187 |