GCC Code Coverage Report


Directory: ./
File: tests/spline-path.cc
Date: 2024-12-13 16:14:03
Exec Total Coverage
Lines: 183 189 96.8%
Branches: 743 1480 50.2%

Line Branch Exec Source
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 spline_path
30 #include <../tests/util.hh>
31 #include <boost/test/included/unit_test.hpp>
32 #include <hpp/core/path/hermite.hh>
33 #include <hpp/core/path/spline.hh>
34 #include <hpp/core/problem.hh>
35 #include <hpp/core/steering-method/spline.hh>
36 #include <hpp/core/steering-method/straight.hh>
37 #include <hpp/pinocchio/configuration.hh>
38 #include <hpp/pinocchio/joint-collection.hh>
39 #include <hpp/pinocchio/joint.hh>
40 #include <hpp/pinocchio/liegroup.hh>
41 #include <hpp/pinocchio/simple-device.hh>
42 #include <hpp/pinocchio/urdf/util.hh>
43 #include <pinocchio/algorithm/joint-configuration.hpp>
44 #include <pinocchio/fwd.hpp>
45
46 #define TOSTR(x) \
47 static_cast<std::ostringstream&>((std::ostringstream() << x)).str()
48
49 using namespace hpp::core;
50 using namespace hpp::pinocchio;
51
52 5 DevicePtr_t createNDoFRobot(int ndof) {
53
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5 std::ostringstream oss;
54 oss << "<robot name='test'>"
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5 << "<link name='link0'/>";
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10 for (int i = 0; i < ndof; ++i) {
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5 oss << "<joint name='joint" << i << "' type='prismatic'>"
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5 << "<parent link='link" << i << "'/>"
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5 << "<child link='link" << i + 1 << "'/>"
60 << "<limit effort='30' velocity='1.0' lower='-4' upper='4'/>"
61 << "</joint>"
62
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5 << "<link name='link" << i + 1 << "'/>";
63 }
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5 oss << "</robot>";
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5 std::string urdf(oss.str());
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10 DevicePtr_t robot = Device::create("test");
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5 urdf::loadModelFromString(robot, 0, "", "anchor", urdf, "");
69 10 return robot;
70 5 }
71
72 2 DevicePtr_t createRobot() {
73
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4 DevicePtr_t robot = unittest::makeDevice(unittest::HumanoidRomeo);
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2 robot->rootJoint()->lowerBound(0, -1);
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2 robot->rootJoint()->lowerBound(1, -1);
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2 robot->rootJoint()->lowerBound(2, -1);
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2 robot->rootJoint()->upperBound(0, 1);
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2 robot->rootJoint()->upperBound(1, 1);
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2 robot->rootJoint()->upperBound(2, 1);
80 2 return robot;
81 }
82
83 4 DevicePtr_t createRobotArm() {
84
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8 DevicePtr_t robot = unittest::makeDevice(unittest::ManipulatorArm2);
85 4 return robot;
86 }
87
88 typedef std::pair<value_type, value_type> Pair_t;
89
90 std::ostream& operator<<(std::ostream& os, const Pair_t& p) {
91 os << "Pair " << p.first << ", " << p.second;
92 return os;
93 }
94
95 void printAt(const PathPtr_t& p, ConfigurationOut_t q, value_type t) {
96 p->eval(q, t);
97 std::cout << t << ":\t" << q.transpose() << std::endl;
98 }
99 10 void checkAt(const PathPtr_t orig, value_type to, const PathPtr_t extr,
100 value_type te) {
101
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10 Configuration_t q1(orig->outputSize()), q2(orig->outputSize());
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10 orig->eval(q1, to);
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10 extr->eval(q2, te);
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10 BOOST_CHECK_MESSAGE(q2.isApprox(q1),
105 "\nPath 1: " << q1.head<10>().transpose() << "\nPath 2: "
106 << q2.head<10>().transpose());
107 10 }
108
109 template <int SplineType>
110 1 void compare_to_straight_path() {
111 typedef path::Spline<SplineType, 1> path_t;
112 typedef steeringMethod::Spline<SplineType, 1> SM_t;
113
114
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1 DevicePtr_t dev = createRobot();
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1 BOOST_REQUIRE(dev);
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1 ProblemPtr_t problem = Problem::create(dev);
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1 Configuration_t q1(::pinocchio::randomConfiguration(dev->model()));
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1 Configuration_t q2(::pinocchio::randomConfiguration(dev->model()));
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1 vector_t v(dev->numberDof());
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1 difference<RnxSOnLieGroupMap>(dev, q2, q1, v);
123
124 // create StraightPath
125
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2 PathPtr_t sp = (*problem->steeringMethod())(q1, q2);
126 // value_type length = sp->length();
127
128 // Create linear spline
129
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1 typename SM_t::Ptr_t sm(SM_t::create(problem));
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2 PathPtr_t ls_abstract = (*sm)(q1, q2);
131 1 typename path_t::Ptr_t ls = HPP_DYNAMIC_PTR_CAST(path_t, ls_abstract);
132
133 /*
134 typename path_t::Ptr_t ls = path_t::create (dev, interval_t(0, length),
135 ConstraintSetPtr_t()); ls->base (q1); typename path_t::ParameterMatrix_t
136 ls_param = ls->parameters(); ls_param.row(0).setZero(); ls_param.row(1) = v;
137 ls->parameters(ls_param);
138 */
139
140
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1 CONFIGURATION_VECTOR_IS_APPROX(dev, sp->initial(), ls->initial(), 1e-7);
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1 CONFIGURATION_VECTOR_IS_APPROX(dev, sp->end(), ls->end(), 1e-7);
142
143 1 const size_type N = 10;
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1 const value_type step1 = sp->length() / N;
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1 const value_type step2 = ls->length() / N;
146
147 // Check that straight path and linear spline return the same result.
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11 for (size_type i = 0; i < N; ++i)
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10 checkAt(sp, value_type(i) * step1, ls, value_type(i) * step2);
150
151 // Check that the velocities are equals
152
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1 vector_t v1(dev->numberDof());
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1 vector_t v2(dev->numberDof());
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11 for (size_type i = 0; i < N; ++i) {
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10 sp->derivative(v1, value_type(i) * step1, 1);
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10 ls->derivative(v2, value_type(i) * step2, 1);
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10 BOOST_CHECK_SMALL((v2 * step2 - v1 * step1).squaredNorm(), 1e-12);
158 }
159
160 // Check integral value
161
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1 BOOST_CHECK_EQUAL(ls->squaredNormIntegral(2), 0);
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1 BOOST_CHECK_CLOSE(ls->squaredNormIntegral(1), v.squaredNorm() / sp->length(),
163 1e-12);
164
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1 vector_t derivative(dev->numberDof() * 2);
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1 ls->squaredNormIntegralDerivative(1, derivative);
167 switch (SplineType) {
168 case path::CanonicalPolynomeBasis:
169 BOOST_CHECK(derivative.head(dev->numberDof()).isZero());
170 EIGEN_VECTOR_IS_APPROX(derivative.tail(dev->numberDof()),
171 (2. / sp->length()) * v, 1e-6);
172 break;
173 1 case path::BernsteinBasis:
174
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1 EIGEN_VECTOR_IS_APPROX(derivative.head(dev->numberDof()),
175 (-2. / sp->length()) * v, 1e-6);
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1 EIGEN_VECTOR_IS_APPROX(derivative.tail(dev->numberDof()),
177 (2. / sp->length()) * v, 1e-6);
178 1 break;
179 }
180 1 }
181
182 template <int SplineType, int Degree>
183 1 void check_velocity_bounds() {
184 typedef steeringMethod::Spline<SplineType, Degree> SM_t;
185
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1 DevicePtr_t dev = createRobot();
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1 BOOST_REQUIRE(dev);
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1 ProblemPtr_t problem = Problem::create(dev);
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1 Configuration_t q1(::pinocchio::randomConfiguration(dev->model()));
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1 Configuration_t q2(::pinocchio::randomConfiguration(dev->model()));
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1 std::vector<int> orders(1, 1);
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1 vector_t v1(vector_t::Random(dev->numberDof())),
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1 v2(vector_t::Random(dev->numberDof()));
195
196 // Create spline
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1 typename SM_t::Ptr_t sm(SM_t::create(problem));
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2 PathPtr_t spline = sm->steer(q1, orders, v1, q2, orders, v2);
199
200
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1 vector_t vb1(-vector_t::Ones(dev->numberDof())), vb2 = vb1;
201 1 value_type t0 = spline->timeRange().first, t1 = spline->timeRange().second;
202
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1 spline->velocityBound(vb1, t0, t1);
203
204
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1 BOOST_CHECK((vb1.array() >= 0).all());
205
206 1 std::size_t N = 1000;
207
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1 value_type step = spline->length() / value_type(N);
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1001 for (std::size_t i = 0; i < N; ++i) {
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1000 vb2.setConstant(-1);
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1000 spline->velocityBound(vb2, t0, t1);
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1000 BOOST_CHECK((vb2.array() >= 0).all());
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1000 BOOST_CHECK_MESSAGE(
213 (vb2.array() <= vb1.array()).all(),
214 "i=" << i << " Velocity bound should have decreased. Interval is ["
215 << t0 << ", " << t1 << "]. Difference:\n"
216 << (vb1 - vb2).transpose());
217
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1000 vb1 = vb2;
218
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1000 if (i % 2) {
219 500 t0 += step;
220 } else {
221 500 t1 -= step;
222 }
223 }
224 1 }
225
226 template <int SplineType, int Degree, int order>
227 6 void check_steering_method() {
228 typedef steeringMethod::Spline<SplineType, Degree> SM_t;
229
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10 std::vector<int> orders{1};
230
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2 if (order == 2) orders.push_back(2);
231
232 // Use the manipulator arm and not Romeo since steering method does not give
233 // correct values for vel/acc when the robot configuration contains a
234 // freeflyer
235
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6 DevicePtr_t dev = createRobotArm();
236
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6 BOOST_REQUIRE(dev);
237
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6 ProblemPtr_t problem = Problem::create(dev);
238
239 // Create random configurations and velocities/accelerations
240
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6 Configuration_t q1(::pinocchio::randomConfiguration(dev->model()));
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6 Configuration_t q2(::pinocchio::randomConfiguration(dev->model()));
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6 matrix_t deriv1(matrix_t::Random(dev->numberDof(), order)),
243
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6 deriv2(matrix_t::Random(dev->numberDof(), order));
244 6 double length = static_cast<float>(rand()) / static_cast<float>(RAND_MAX);
245
246 // Create spline
247
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6 typename SM_t::Ptr_t sm(SM_t::create(problem));
248
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12 PathPtr_t spline1 = sm->steer(q1, orders, deriv1, q2, orders, deriv2, length);
249
250 // Check length
251
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6 double spline_length = spline1->length();
252
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6 BOOST_CHECK_MESSAGE(abs(spline_length - length) < 0.0001,
253 "Path does not have desired length: "
254 << spline_length << " instead of " << length);
255
256 // Check configuration at start/end
257
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6 Configuration_t spline_q1 = spline1->initial();
258
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6 Configuration_t spline_q2 = spline1->end();
259
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6 EIGEN_VECTOR_IS_APPROX(q1, spline_q1, 1e-6);
260
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6 EIGEN_VECTOR_IS_APPROX(q2, spline_q2, 1e-6);
261
262 // Check derivatives at start/end
263
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14 for (int i = 1; i <= order; i++) {
264
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8 vector_t spline_v1(vector_t::Random(dev->numberDof())),
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8 spline_v2 = spline_v1;
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8 spline1->derivative(spline_v1, 0, i);
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8 spline1->derivative(spline_v2, spline_length, i);
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8 EIGEN_VECTOR_IS_APPROX(deriv1.col(i - 1), spline_v1, 1e-6);
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8 EIGEN_VECTOR_IS_APPROX(deriv2.col(i - 1), spline_v2, 1e-6);
270 }
271 6 }
272
273
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4 BOOST_AUTO_TEST_CASE(spline_bernstein) {
274 2 compare_to_straight_path<path::BernsteinBasis>();
275 2 }
276
277 5 void check_bernstein_polynomial_3rd(value_type p0, value_type p1, value_type p2,
278 value_type p3) {
279 // Degree 3
280 typedef path::Spline<path::BernsteinBasis, 3> path_t;
281
282
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5 DevicePtr_t dev = createNDoFRobot(1);
283
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5 vector_t q0(1);
284
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5 q0 << 0.0;
285
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5 path_t::ParameterMatrix_t m(4, 1);
286
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5 m << p0, p1, p2, p3;
287 bool ok;
288
289
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10 ConstraintSetPtr_t constraint = ConstraintSet::create(dev, "empty");
290
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5 path_t::Ptr_t path = path_t::create(dev, interval_t(0, 1), constraint);
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5 path->base(q0);
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5 path->parameters(m);
293
294 // evaluation
295
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5 BOOST_CHECK_CLOSE(path->eval(0.0, ok)[0], m(0, 0), 1e-8);
296
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5 BOOST_CHECK_CLOSE(path->eval(0.5, ok)[0],
297 0.125 * (m(0, 0) + 3 * m(1, 0) + 3 * m(2, 0) + m(3, 0)),
298 1e-8);
299
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5 BOOST_CHECK_CLOSE(path->eval(1.0, ok)[0], m(3, 0), 1e-8);
300
301 // derivative
302
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5 vector_t der(1);
303
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5 path->derivative(der, 0.0, ok);
304
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5 BOOST_CHECK_CLOSE(der[0], 3 * (-m(0, 0) + m(1, 0)), 1e-8);
305
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5 path->derivative(der, 0.5, ok);
306
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5 BOOST_CHECK_CLOSE(der[0], 3 * (-m(0, 0) - m(1, 0) + m(2, 0) + m(3, 0)) / 4,
307 1e-8);
308
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5 path->derivative(der, 1.0, ok);
309
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5 BOOST_CHECK_CLOSE(der[0], 3 * (-m(2, 0) + m(3, 0)), 1e-8);
310
311 // velocity bound
312
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5 vector_t vb(1);
313
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5 vector_t splineVbounds(4);
314
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5 path->velocityBound(vb, 0.0, 1.0);
315
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5 splineVbounds << 3, 3, 3, 3;
316
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5 BOOST_CHECK_CLOSE(vb[0], (m.cwiseAbs().transpose() * splineVbounds)[0], 1e-8);
317
318
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5 path->velocityBound(vb, 0.0, 0.5);
319
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5 splineVbounds << 3, 3, 1, 0.75;
320
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5 BOOST_CHECK_CLOSE(vb[0], (m.cwiseAbs().transpose() * splineVbounds)[0], 1e-8);
321
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5 path->velocityBound(vb, 0.5, 1.0);
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5 splineVbounds << 0.75, 1, 3, 3;
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5 BOOST_CHECK_CLOSE(vb[0], (m.cwiseAbs().transpose() * splineVbounds)[0], 1e-8);
325
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5 path->velocityBound(vb, 0.5, 0.6);
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5 splineVbounds << 0.75, 0.96, 0.75, 1.08;
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5 BOOST_CHECK_CLOSE(vb[0], (m.cwiseAbs().transpose() * splineVbounds)[0], 1e-8);
329 5 }
330
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4 BOOST_AUTO_TEST_CASE(bernstein_polynomial) {
332 2 check_bernstein_polynomial_3rd(1.0, 0.0, 0.0, 0.0);
333 2 check_bernstein_polynomial_3rd(0.0, 1.0, 0.0, 0.0);
334 2 check_bernstein_polynomial_3rd(0.0, 0.0, 1.0, 0.0);
335 2 check_bernstein_polynomial_3rd(0.0, 0.0, 0.0, 1.0);
336
337 2 check_bernstein_polynomial_3rd(1.0, 0.3, 0.4, -0.5);
338 2 }
339
340
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4 BOOST_AUTO_TEST_CASE(spline_bernstein_velocity) {
341 2 check_velocity_bounds<path::BernsteinBasis, 3>();
342 2 }
343
344
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4 BOOST_AUTO_TEST_CASE(steering_method) {
345 2 check_steering_method<path::BernsteinBasis, 3, 1>();
346 2 check_steering_method<path::BernsteinBasis, 5, 1>();
347 2 check_steering_method<path::BernsteinBasis, 5, 2>();
348 2 }
349
350
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4 BOOST_AUTO_TEST_CASE(hermite_path) {
351
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2 DevicePtr_t dev = createRobotArm();
352 ConstraintSetPtr_t constraint =
353
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4 hpp::core::ConstraintSet::create(dev, "empty");
354
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2 vector_t q1(vector_t::Zero(dev->configSize()));
356
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2 vector_t q2(vector_t::Ones(dev->configSize()));
357
358 path::HermitePtr_t path =
359
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4 hpp::core::path::Hermite::create(dev, q1, q2, constraint);
360 bool ok;
361
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2 vector_t evaluated = path->eval(path->length(), ok);
362
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2 BOOST_CHECK(ok);
363
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2 CONFIGURATION_VECTOR_IS_APPROX(dev, evaluated, path->end(), 1e-12);
364 2 }
365