Directory: | ./ |
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File: | tests/reeds-and-shepp.cc |
Date: | 2024-08-10 11:29:48 |
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1 | // Copyright (c) 2020, CNRS | ||
2 | // Authors: Florent Lamiraux | ||
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 HPP_DEBUG | ||
30 | #define BOOST_TEST_MODULE ReedsAndShepp | ||
31 | #include <boost/test/included/unit_test.hpp> | ||
32 | #include <hpp/core/distance/reeds-shepp.hh> | ||
33 | #include <hpp/core/problem.hh> | ||
34 | #include <hpp/core/steering-method/reeds-shepp.hh> | ||
35 | #include <hpp/pinocchio/joint.hh> | ||
36 | #include <hpp/pinocchio/simple-device.hh> | ||
37 | |||
38 | using hpp::core::Parameter; | ||
39 | using hpp::core::PathPtr_t; | ||
40 | using hpp::core::Problem; | ||
41 | using hpp::core::ProblemPtr_t; | ||
42 | using hpp::core::size_type; | ||
43 | using hpp::core::value_type; | ||
44 | using hpp::pinocchio::Configuration_t; | ||
45 | using hpp::pinocchio::DevicePtr_t; | ||
46 | |||
47 | typedef hpp::core::distance::ReedsShepp Distance; | ||
48 | typedef hpp::core::distance::ReedsSheppPtr_t DistancePtr_t; | ||
49 | typedef hpp::core::steeringMethod::ReedsShepp SteeringMethod; | ||
50 | typedef hpp::core::steeringMethod::ReedsSheppPtr_t SteeringMethodPtr_t; | ||
51 | |||
52 |
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4 | BOOST_AUTO_TEST_CASE(ReedsAndShepp) { |
53 | DevicePtr_t robot = | ||
54 |
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4 | hpp::pinocchio::unittest::makeDevice(hpp::pinocchio::unittest::CarLike); |
55 |
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2 | BOOST_REQUIRE_EQUAL(robot->configSize(), 6); |
56 | // Set bounds | ||
57 |
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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()->upperBound(0, 10); |
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2 | robot->rootJoint()->upperBound(1, 10); |
61 | |||
62 |
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2 | ProblemPtr_t problem(Problem::create(robot)); |
63 | // problem->setParameter("SteeringMethod/Carlike/turningRadius", | ||
64 | // Parameter(2.)); | ||
65 |
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4 | problem->setParameter( |
66 | "SteeringMethod/Carlike/wheels", | ||
67 |
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4 | Parameter(std::string("wheel_frontright_joint,wheel_frontleft_joint"))); |
68 | // Rank of the wheels in the configuration vector | ||
69 |
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2 | SteeringMethodPtr_t sm(SteeringMethod::createWithGuess(problem)); |
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2 | DistancePtr_t dist(Distance::create(problem)); |
71 | |||
72 |
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2 | Configuration_t q1(robot->neutralConfiguration()); |
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2 | Configuration_t q2(robot->neutralConfiguration()); |
74 | |||
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2 | q1 << -2, 0, -1, 0, 0, 0; |
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2 | q1 << 2, 0, 1, 0, 0, 0; |
77 | |||
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2 | hppDout(info, "dist = " << (*dist)(q1, q2)); |
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4 | PathPtr_t path((*sm)(q1, q2)); |
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2 | hppDout(info, "path length = " << path->length()); |
81 | 2 | } | |
82 |