Directory: | ./ |
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File: | tests/test-configprojector.cc |
Date: | 2024-08-10 11:29:48 |
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Lines: | 98 | 98 | 100.0% |
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1 | // Copyright (c) 2014, LAAS-CNRS | ||
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 ConfigProjector | ||
30 | #include <boost/test/included/unit_test.hpp> | ||
31 | #include <hpp/constraints/generic-transformation.hh> | ||
32 | #include <hpp/constraints/implicit.hh> | ||
33 | #include <hpp/constraints/solver/by-substitution.hh> | ||
34 | #include <hpp/core/config-projector.hh> | ||
35 | #include <hpp/core/constraint-set.hh> | ||
36 | #include <hpp/pinocchio/device.hh> | ||
37 | #include <hpp/pinocchio/joint.hh> | ||
38 | #include <hpp/pinocchio/simple-device.hh> | ||
39 | #include <pinocchio/fwd.hpp> | ||
40 | |||
41 | using hpp::constraints::matrix3_t; | ||
42 | using hpp::constraints::Position; | ||
43 | using hpp::constraints::PositionPtr_t; | ||
44 | using hpp::constraints::vector3_t; | ||
45 | |||
46 | using namespace hpp; | ||
47 | using namespace hpp::pinocchio; | ||
48 | using namespace hpp::core; | ||
49 | |||
50 | typedef Eigen::Matrix<value_type, 3, 1> Vector3; | ||
51 | typedef Eigen::Matrix<value_type, 3, 3> Matrix3; | ||
52 | |||
53 | 4 | DevicePtr_t createRobot() { | |
54 |
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8 | DevicePtr_t robot = unittest::makeDevice(unittest::HumanoidSimple); |
55 | 4 | const value_type l = 2; | |
56 |
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4 | robot->rootJoint()->lowerBound(0, -l); |
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4 | robot->rootJoint()->lowerBound(1, -l); |
58 |
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4 | robot->rootJoint()->lowerBound(2, -l); |
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4 | robot->rootJoint()->upperBound(0, l); |
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4 | robot->rootJoint()->upperBound(1, l); |
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4 | robot->rootJoint()->upperBound(2, l); |
62 | 4 | return robot; | |
63 | } | ||
64 | |||
65 | BOOST_AUTO_TEST_SUITE(config_projector) | ||
66 | |||
67 |
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4 | BOOST_AUTO_TEST_CASE(empty) { |
68 |
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2 | DevicePtr_t dev = createRobot(); |
69 | |||
70 |
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2 | Configuration_t cfg(dev->neutralConfiguration()); |
71 |
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4 | ConstraintSetPtr_t cs = ConstraintSet::create(dev, "empty"); |
72 |
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2 | BOOST_CHECK(cs->apply(cfg)); |
73 | |||
74 | ConfigProjectorPtr_t projector = | ||
75 |
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4 | ConfigProjector::create(dev, "test", 1e-4, 20); |
76 |
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2 | cs->addConstraint(projector); |
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2 | BOOST_CHECK(projector->apply(cfg)); |
78 | 2 | } | |
79 | |||
80 |
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4 | BOOST_AUTO_TEST_CASE(ref_zero) { |
81 |
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2 | DevicePtr_t dev = createRobot(); |
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4 | JointPtr_t xyz = dev->getJointByName("root_joint"); |
83 |
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2 | matrix3_t rot; |
84 |
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2 | rot.setIdentity(); |
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2 | vector3_t zero; |
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2 | zero.setZero(); |
87 |
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2 | ComparisonTypes_t ineq(3, constraints::Superior); |
88 |
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2 | BOOST_REQUIRE(dev); |
89 | PositionPtr_t position = | ||
90 |
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4 | Position::create("Position", dev, xyz, Transform3f(rot, zero)); |
91 | |||
92 | 2 | ineq[1] = constraints::Inferior; | |
93 | ConfigProjectorPtr_t projector = | ||
94 |
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4 | ConfigProjector::create(dev, "test", 1e-4, 20); |
95 | |||
96 |
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2 | projector->add(constraints::Implicit::create(position, ineq)); |
97 | // Constraints are | ||
98 | // q [0] > 0 | ||
99 | // q [1] < 0 | ||
100 | // q [2] > 0 | ||
101 |
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2 | Configuration_t cfg(dev->neutralConfiguration()); |
102 | |||
103 |
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2 | vector_t invert(3); |
104 |
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2 | invert[0] = 1; |
105 |
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2 | invert[1] = -1; |
106 |
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2 | invert[2] = 1; |
107 |
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2 | cfg.segment(0, 3) = invert; |
108 |
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2 | BOOST_CHECK(projector->apply(cfg)); |
109 |
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2 | BOOST_CHECK_MESSAGE((cfg.segment(0, 3) - invert).isZero(), |
110 | "Configuration should not be modified."); | ||
111 | |||
112 |
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2 | cfg.segment(0, 3) = vector_t::Ones(3); |
113 |
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2 | BOOST_CHECK(projector->apply(cfg)); |
114 |
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2 | BOOST_CHECK_MESSAGE( |
115 | (cfg.segment(0, 1) - vector_t::Ones(1)).isZero(), | ||
116 | "Dof 0 should not have been modified. " << cfg.head<3>().transpose()); | ||
117 |
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2 | BOOST_CHECK_MESSAGE(cfg(1) < 0, "Dof 1 should have been modified. " |
118 | << cfg.head<3>().transpose()); | ||
119 |
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2 | BOOST_CHECK_MESSAGE( |
120 | (cfg.segment(2, 1) - vector_t::Ones(1)).isZero(), | ||
121 | "Dof 2 should not have been modified. " << cfg.head<3>().transpose()); | ||
122 | 2 | } | |
123 | |||
124 |
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4 | BOOST_AUTO_TEST_CASE(ref_not_zero) { |
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2 | DevicePtr_t dev = createRobot(); |
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4 | JointPtr_t xyz = dev->getJointByName("root_joint"); |
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2 | matrix3_t rot; |
128 |
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2 | rot.setIdentity(); |
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2 | vector3_t zero; |
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2 | zero.setZero(); |
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2 | vector_t ref(3); |
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2 | ComparisonTypes_t ineq(3, constraints::Superior); |
133 |
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2 | BOOST_REQUIRE(dev); |
134 | PositionPtr_t position = | ||
135 |
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2 | Position::create("Position", dev, xyz, Transform3f(rot, zero), |
136 |
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6 | Transform3f(rot, vector3_t(1, 1, 1))); |
137 | |||
138 |
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2 | ref[0] = 0; |
139 |
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2 | ref[1] = 0; |
140 |
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2 | ref[2] = 0; |
141 | 2 | ineq[1] = constraints::Inferior; | |
142 | ConfigProjectorPtr_t projector = | ||
143 |
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4 | ConfigProjector::create(dev, "test", 1e-4, 20); |
144 |
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2 | projector->add(constraints::Implicit::create(position, ineq)); |
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2 | Configuration_t cfg(dev->neutralConfiguration()); |
146 | |||
147 |
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2 | ref[0] = 2; |
148 |
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2 | ref[1] = 0; |
149 |
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2 | ref[2] = 2; |
150 |
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2 | cfg.segment(0, 3) = ref; |
151 |
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2 | BOOST_CHECK(projector->apply(cfg)); |
152 |
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2 | BOOST_CHECK_MESSAGE((cfg.segment(0, 3) - ref).isZero(), |
153 | "Configuration should not be modified."); | ||
154 | |||
155 |
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2 | ref[0] = 0; |
156 |
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2 | ref[1] = 0; |
157 |
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2 | ref[2] = 0; |
158 |
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2 | cfg.segment(0, 3) = ref; |
159 |
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2 | BOOST_CHECK(projector->apply(cfg)); |
160 |
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2 | BOOST_CHECK_MESSAGE(cfg(0) > 1, "Dof 0 should have been modified. " |
161 | << cfg.head<3>().transpose()); | ||
162 |
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2 | BOOST_CHECK_MESSAGE( |
163 | (cfg.segment(1, 1) - ref.segment(1, 1)).isZero(), | ||
164 | "Dof 1 should not have been modified. " << cfg.head<3>().transpose()); | ||
165 |
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2 | BOOST_CHECK_MESSAGE(cfg(2) > 1, "Dof 2 should have been modified. " |
166 | << cfg.head<3>().transpose()); | ||
167 | 2 | } | |
168 | |||
169 |
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4 | BOOST_AUTO_TEST_CASE(copy) { |
170 | using constraints::Implicit; | ||
171 | using constraints::ImplicitPtr_t; | ||
172 |
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2 | DevicePtr_t dev = createRobot(); |
173 |
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4 | JointPtr_t xyz = dev->getJointByName("root_joint"); |
174 | ConfigProjectorPtr_t projector = | ||
175 |
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4 | ConfigProjector::create(dev, "test", 1e-4, 20); |
176 |
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2 | matrix3_t rot; |
177 |
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2 | rot.setIdentity(); |
178 |
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2 | vector3_t zero; |
179 |
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2 | zero.setZero(); |
180 | PositionPtr_t position( | ||
181 |
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2 | Position::create("Position", dev, xyz, Transform3f(rot, zero), |
182 |
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6 | Transform3f(rot, vector3_t(1, 1, 1)))); |
183 |
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2 | ComparisonTypes_t equality(3, constraints::Equality); |
184 |
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4 | ImplicitPtr_t constraint(Implicit::create(position, equality)); |
185 |
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2 | projector->add(constraint); |
186 | |||
187 | ConfigProjectorPtr_t copy( | ||
188 |
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2 | HPP_DYNAMIC_PTR_CAST(ConfigProjector, projector->copy())); |
189 |
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2 | vector_t rhs(3); |
190 |
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2 | bool success(copy->solver().getRightHandSide(constraint, rhs)); |
191 |
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2 | BOOST_CHECK(success); |
192 | 2 | } | |
193 | |||
194 | BOOST_AUTO_TEST_SUITE_END() | ||
195 |