| Directory: | ./ |
|---|---|
| File: | tests/test-gradient-based.cc |
| Date: | 2024-12-13 16:14:03 |
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| Lines: | 362 | 362 | 100.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2014 CNRS | ||
| 3 | // Authors: Florent Lamiraux | ||
| 4 | // | ||
| 5 | |||
| 6 | // Redistribution and use in source and binary forms, with or without | ||
| 7 | // modification, are permitted provided that the following conditions are | ||
| 8 | // met: | ||
| 9 | // | ||
| 10 | // 1. Redistributions of source code must retain the above copyright | ||
| 11 | // notice, this list of conditions and the following disclaimer. | ||
| 12 | // | ||
| 13 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 14 | // notice, this list of conditions and the following disclaimer in the | ||
| 15 | // documentation and/or other materials provided with the distribution. | ||
| 16 | // | ||
| 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 18 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 19 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 20 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 21 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 22 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 23 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 24 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 25 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 26 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 27 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 28 | // DAMAGE. | ||
| 29 | |||
| 30 | #define BOOST_TEST_MODULE gradient_based | ||
| 31 | #include <coal/shape/geometric_shapes.h> | ||
| 32 | |||
| 33 | #include <boost/test/included/unit_test.hpp> | ||
| 34 | #include <cmath> | ||
| 35 | #include <hpp/core/continuous-validation/dichotomy.hh> | ||
| 36 | #include <hpp/core/path-optimization/spline-gradient-based.hh> | ||
| 37 | #include <hpp/core/path-vector.hh> | ||
| 38 | #include <hpp/core/problem.hh> | ||
| 39 | #include <hpp/core/steering-method/straight.hh> | ||
| 40 | #include <hpp/pinocchio/collision-object.hh> | ||
| 41 | #include <hpp/pinocchio/device.hh> | ||
| 42 | #include <hpp/pinocchio/joint-collection.hh> | ||
| 43 | #include <hpp/pinocchio/joint.hh> | ||
| 44 | #include <hpp/pinocchio/urdf/util.hh> | ||
| 45 | #include <pinocchio/algorithm/frames.hpp> | ||
| 46 | #include <pinocchio/fwd.hpp> | ||
| 47 | #include <pinocchio/multibody/fcl.hpp> | ||
| 48 | #include <pinocchio/multibody/geometry.hpp> | ||
| 49 | |||
| 50 | using namespace hpp::core; | ||
| 51 | using namespace hpp::pinocchio; | ||
| 52 | |||
| 53 | BOOST_AUTO_TEST_SUITE(test_hpp_core) | ||
| 54 | |||
| 55 | // Build a box robot moving in the plane | ||
| 56 | 2 | DevicePtr_t createRobot() { | |
| 57 | std::string urdf( | ||
| 58 | "<robot name='test'>" | ||
| 59 | "<link name='body'>" | ||
| 60 | "<collision>" | ||
| 61 | "<geometry>" | ||
| 62 | "<cylinder length='.2' radius='.1'/>" | ||
| 63 | "</geometry>" | ||
| 64 | "</collision>" | ||
| 65 | "</link>" | ||
| 66 |
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2 | "</robot>"); |
| 67 | |||
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4 | DevicePtr_t robot = Device::create("test"); |
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2 | urdf::loadModelFromString(robot, 0, "", "planar", urdf, ""); |
| 70 | |||
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2 | BOOST_REQUIRE_EQUAL(robot->configSize(), 4); |
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2 | BOOST_REQUIRE_EQUAL(robot->numberDof(), 3); |
| 73 | |||
| 74 |
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4 | JointPtr_t rj = robot->getJointByName("root_joint"); |
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2 | BOOST_REQUIRE(rj); |
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2 | rj->upperBound(0, 2); |
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2 | rj->upperBound(1, 2); |
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2 | rj->lowerBound(0, -2); |
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2 | rj->lowerBound(1, -2); |
| 80 | 4 | return robot; | |
| 81 | 2 | } | |
| 82 | |||
| 83 | // Build a cylindrical robot moving in the plane | ||
| 84 | // | ||
| 85 | // Create a circular path from (-1,0) to (1,0) with nominal orientation | ||
| 86 | // with 3 waypoints of various orientations. | ||
| 87 | // Optimal path should be a straight line: all waypoints aligned. | ||
| 88 | // Check waypoints with expected value | ||
| 89 | |||
| 90 |
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4 | BOOST_AUTO_TEST_CASE(spline_optimization) { |
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4 | Eigen::IOFormat eigenFmt(Eigen::FullPrecision); |
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2 | ::hpp::debug::setVerbosityLevel(100); |
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2 | DevicePtr_t robot = createRobot(); |
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2 | Configuration_t q0(robot->configSize()); |
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2 | Configuration_t q1(robot->configSize()); |
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2 | Configuration_t q2(robot->configSize()); |
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2 | Configuration_t q3(robot->configSize()); |
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2 | Configuration_t q4(robot->configSize()); |
| 99 | 2 | value_type s = sqrt(2) / 2; | |
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2 | q0(0) = -1; |
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2 | q0(1) = 0; |
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2 | q0(2) = 1; |
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2 | q0(3) = 0; |
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2 | q1(0) = -s; |
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2 | q1(1) = s; |
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2 | q1(2) = s; |
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2 | q1(3) = s; |
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2 | q2(0) = 0; |
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2 | q2(1) = 1; |
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2 | q2(2) = 0; |
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2 | q2(3) = 1; |
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2 | q3(0) = s; |
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2 | q3(1) = s; |
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2 | q3(2) = s; |
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2 | q3(3) = s; |
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2 | q4(0) = 1; |
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2 | q4(1) = 0; |
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2 | q4(2) = 1; |
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2 | q4(3) = 0; |
| 120 | |||
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2 | ProblemPtr_t problem = Problem::create(robot); |
| 122 | 2 | SteeringMethodPtr_t sm = problem->steeringMethod(); | |
| 123 | PathVectorPtr_t path = | ||
| 124 |
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2 | PathVector::create(robot->configSize(), robot->numberDof()); |
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2 | path->appendPath((*sm)(q0, q1)); |
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2 | path->appendPath((*sm)(q1, q2)); |
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2 | path->appendPath((*sm)(q2, q3)); |
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2 | path->appendPath((*sm)(q3, q4)); |
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4 | problem->setParameter("SplineGradientBased/alphaInit", |
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4 | hpp::core::Parameter(1.)); |
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4 | problem->setParameter("SplineGradientBased/costThreshold", |
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4 | hpp::core::Parameter(1e-6)); |
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4 | problem->setParameter("SplineGradientBased/QPAccuracy", |
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4 | hpp::core::Parameter(1e-10)); |
| 135 | PathOptimizerPtr_t pathOptimizer1( | ||
| 136 |
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4 | pathOptimization::SplineGradientBased<path::BernsteinBasis, 1>::create( |
| 137 | 2 | problem)); | |
| 138 | PathOptimizerPtr_t pathOptimizer3( | ||
| 139 |
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4 | pathOptimization::SplineGradientBased<path::BernsteinBasis, 3>::create( |
| 140 | 2 | problem)); | |
| 141 | PathOptimizerPtr_t pathOptimizer5( | ||
| 142 |
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4 | pathOptimization::SplineGradientBased<path::BernsteinBasis, 5>::create( |
| 143 | 2 | problem)); | |
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2 | PathVectorPtr_t optimizedPath1(pathOptimizer1->optimize(path)); |
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2 | PathVectorPtr_t optimizedPath3(pathOptimizer3->optimize(path)); |
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2 | PathVectorPtr_t optimizedPath5(pathOptimizer5->optimize(path)); |
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2 | BOOST_CHECK(optimizedPath1->numberPaths() == 4); |
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2 | BOOST_CHECK(optimizedPath3->numberPaths() == 4); |
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2 | BOOST_CHECK(optimizedPath5->numberPaths() == 4); |
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2 | Configuration_t p00 = optimizedPath1->pathAtRank(0)->initial(); |
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2 | Configuration_t p01 = optimizedPath1->pathAtRank(0)->end(); |
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2 | Configuration_t p10 = optimizedPath1->pathAtRank(1)->initial(); |
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2 | Configuration_t p11 = optimizedPath1->pathAtRank(1)->end(); |
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2 | Configuration_t p20 = optimizedPath1->pathAtRank(2)->initial(); |
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2 | Configuration_t p21 = optimizedPath1->pathAtRank(2)->end(); |
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2 | Configuration_t p30 = optimizedPath1->pathAtRank(3)->initial(); |
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2 | Configuration_t p31 = optimizedPath1->pathAtRank(3)->end(); |
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2 | Configuration_t r1(robot->configSize()); |
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2 | Configuration_t r2(robot->configSize()); |
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2 | Configuration_t r3(robot->configSize()); |
| 161 | // Test spline of degree 1 | ||
| 162 |
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2 | r1 << -0.5, 0, 1, 0; |
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2 | r2 << 0.0, 0, 1, 0; |
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2 | r3 << 0.5, 0, 1, 0; |
| 165 | |||
| 166 | // Continuity | ||
| 167 |
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2 | BOOST_CHECK((p00 - q0).norm() < 1e-10); |
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2 | BOOST_CHECK((p01 - r1).norm() < 1e-10); |
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2 | BOOST_CHECK((p10 - r1).norm() < 1e-10); |
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2 | BOOST_CHECK((p11 - r2).norm() < 1e-10); |
| 171 |
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2 | BOOST_CHECK((p20 - r2).norm() < 1e-10); |
| 172 |
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2 | BOOST_CHECK((p21 - r3).norm() < 1e-10); |
| 173 |
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2 | BOOST_CHECK((p30 - r3).norm() < 1e-10); |
| 174 |
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2 | BOOST_CHECK((p31 - q4).norm() < 1e-10); |
| 175 | |||
| 176 | // Test spline of degree 3 | ||
| 177 |
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2 | p00 = optimizedPath3->pathAtRank(0)->initial(); |
| 178 |
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2 | p01 = optimizedPath3->pathAtRank(0)->end(); |
| 179 |
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2 | p10 = optimizedPath3->pathAtRank(1)->initial(); |
| 180 |
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2 | p11 = optimizedPath3->pathAtRank(1)->end(); |
| 181 |
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2 | p20 = optimizedPath3->pathAtRank(2)->initial(); |
| 182 |
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2 | p21 = optimizedPath3->pathAtRank(2)->end(); |
| 183 |
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2 | p30 = optimizedPath3->pathAtRank(3)->initial(); |
| 184 |
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2 | p31 = optimizedPath3->pathAtRank(3)->end(); |
| 185 | value_type L; | ||
| 186 |
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2 | vector_t v00(robot->numberDof()), v01(robot->numberDof()), |
| 187 |
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2 | v10(robot->numberDof()), v11(robot->numberDof()), v20(robot->numberDof()), |
| 188 |
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2 | v21(robot->numberDof()), v30(robot->numberDof()), v31(robot->numberDof()); |
| 189 |
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2 | L = optimizedPath3->pathAtRank(0)->length(); |
| 190 |
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2 | optimizedPath3->pathAtRank(0)->derivative(v00, 0, 1); |
| 191 |
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2 | optimizedPath3->pathAtRank(0)->derivative(v01, L, 1); |
| 192 |
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2 | L = optimizedPath3->pathAtRank(1)->length(); |
| 193 |
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2 | optimizedPath3->pathAtRank(1)->derivative(v10, 0, 1); |
| 194 |
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2 | optimizedPath3->pathAtRank(1)->derivative(v11, L, 1); |
| 195 |
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2 | L = optimizedPath3->pathAtRank(2)->length(); |
| 196 |
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2 | optimizedPath3->pathAtRank(2)->derivative(v20, 0, 1); |
| 197 |
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2 | optimizedPath3->pathAtRank(2)->derivative(v21, L, 1); |
| 198 |
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2 | L = optimizedPath3->pathAtRank(3)->length(); |
| 199 |
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2 | optimizedPath3->pathAtRank(3)->derivative(v30, 0, 1); |
| 200 |
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2 | optimizedPath3->pathAtRank(3)->derivative(v31, L, 1); |
| 201 | |||
| 202 |
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2 | r1 << -0.520833333333333, 0, 1, 0; |
| 203 |
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2 | r2 << 0, 0, 1, 0; |
| 204 |
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2 | r3 << 0.520833333333333, 0, 1, 0; |
| 205 | |||
| 206 | // Continuity | ||
| 207 |
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2 | BOOST_CHECK((p00 - q0).norm() < 1e-10); |
| 208 |
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2 | BOOST_CHECK((p01 - r1).norm() < 1e-10); |
| 209 |
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2 | BOOST_CHECK((p10 - r1).norm() < 1e-10); |
| 210 |
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2 | BOOST_CHECK((p11 - r2).norm() < 1e-10); |
| 211 |
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2 | BOOST_CHECK((p20 - r2).norm() < 1e-10); |
| 212 |
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2 | BOOST_CHECK((p21 - r3).norm() < 1e-10); |
| 213 |
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2 | BOOST_CHECK((p30 - r3).norm() < 1e-10); |
| 214 |
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2 | BOOST_CHECK((p31 - q4).norm() < 1e-10); |
| 215 | |||
| 216 |
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2 | vector_t v0(robot->numberDof()), v1(robot->numberDof()), |
| 217 |
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2 | v2(robot->numberDof()), v3(robot->numberDof()), v4(robot->numberDof()); |
| 218 |
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2 | v0 << 0, 0, 0; |
| 219 |
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2 | v1 << 0.562800733001311, 0, 0; |
| 220 |
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2 | v2 << 0.643200837715785, 0, 0; |
| 221 |
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2 | v3 << 0.562800733001311, 0, 0; |
| 222 |
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2 | v4 << 0, 0, 0; |
| 223 | |||
| 224 | // Continuity of the first derivative | ||
| 225 |
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2 | BOOST_CHECK((v00 - v0).norm() < 1e-10); |
| 226 |
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2 | BOOST_CHECK((v01 - v1).norm() < 1e-10); |
| 227 |
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2 | BOOST_CHECK((v10 - v1).norm() < 1e-10); |
| 228 |
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2 | BOOST_CHECK((v11 - v2).norm() < 1e-10); |
| 229 |
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2 | BOOST_CHECK((v20 - v2).norm() < 1e-10); |
| 230 |
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2 | BOOST_CHECK((v21 - v3).norm() < 1e-10); |
| 231 |
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2 | BOOST_CHECK((v30 - v3).norm() < 1e-10); |
| 232 |
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2 | BOOST_CHECK((v31 - v4).norm() < 1e-10); |
| 233 | |||
| 234 | // Test spline of degree 5 | ||
| 235 |
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2 | p00 = optimizedPath5->pathAtRank(0)->initial(); |
| 236 |
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2 | p01 = optimizedPath5->pathAtRank(0)->end(); |
| 237 |
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2 | p10 = optimizedPath5->pathAtRank(1)->initial(); |
| 238 |
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2 | p11 = optimizedPath5->pathAtRank(1)->end(); |
| 239 |
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2 | p20 = optimizedPath5->pathAtRank(2)->initial(); |
| 240 |
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2 | p21 = optimizedPath5->pathAtRank(2)->end(); |
| 241 |
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2 | p30 = optimizedPath5->pathAtRank(3)->initial(); |
| 242 |
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2 | p31 = optimizedPath5->pathAtRank(3)->end(); |
| 243 | |||
| 244 |
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2 | r1 << -0.553756964312603, 0, 1, 0; |
| 245 |
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2 | r2 << 0, 0, 1, 0; |
| 246 |
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2 | r3 << 0.553756964312603, 0, 1, 0; |
| 247 | |||
| 248 | // Continuity | ||
| 249 |
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2 | BOOST_CHECK((p00 - q0).norm() < 1e-9); |
| 250 |
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2 | BOOST_CHECK((p01 - r1).norm() < 1e-9); |
| 251 |
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2 | BOOST_CHECK((p10 - r1).norm() < 1e-9); |
| 252 |
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2 | BOOST_CHECK((p11 - r2).norm() < 1e-9); |
| 253 |
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2 | BOOST_CHECK((p20 - r2).norm() < 1e-9); |
| 254 |
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2 | BOOST_CHECK((p21 - r3).norm() < 1e-9); |
| 255 |
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2 | BOOST_CHECK((p30 - r3).norm() < 1e-9); |
| 256 |
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2 | BOOST_CHECK((p31 - q4).norm() < 1e-9); |
| 257 | |||
| 258 |
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2 | L = optimizedPath5->pathAtRank(0)->length(); |
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2 | optimizedPath5->pathAtRank(0)->derivative(v00, 0, 1); |
| 260 |
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2 | optimizedPath5->pathAtRank(0)->derivative(v01, L, 1); |
| 261 |
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2 | L = optimizedPath5->pathAtRank(1)->length(); |
| 262 |
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2 | optimizedPath5->pathAtRank(1)->derivative(v10, 0, 1); |
| 263 |
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2 | optimizedPath5->pathAtRank(1)->derivative(v11, L, 1); |
| 264 |
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2 | L = optimizedPath5->pathAtRank(2)->length(); |
| 265 |
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2 | optimizedPath5->pathAtRank(2)->derivative(v20, 0, 1); |
| 266 |
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2 | optimizedPath5->pathAtRank(2)->derivative(v21, L, 1); |
| 267 |
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2 | L = optimizedPath5->pathAtRank(3)->length(); |
| 268 |
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2 | optimizedPath5->pathAtRank(3)->derivative(v30, 0, 1); |
| 269 |
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2 | optimizedPath5->pathAtRank(3)->derivative(v31, L, 1); |
| 270 | |||
| 271 |
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2 | v1 << 0.626154708000684, 0, 0; |
| 272 |
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2 | v2 << 0.740925524548374, 0, 0; |
| 273 |
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2 | v3 << 0.626154708000684, 0, 0; |
| 274 | |||
| 275 | // Continuity of the first derivative | ||
| 276 |
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2 | BOOST_CHECK((v00 - v0).norm() < 1e-10); |
| 277 |
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2 | BOOST_CHECK((v01 - v1).norm() < 1e-10); |
| 278 |
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2 | BOOST_CHECK((v10 - v1).norm() < 1e-10); |
| 279 |
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2 | BOOST_CHECK((v11 - v2).norm() < 1e-10); |
| 280 |
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2 | BOOST_CHECK((v20 - v2).norm() < 1e-10); |
| 281 |
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2 | BOOST_CHECK((v21 - v3).norm() < 1e-10); |
| 282 |
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2 | BOOST_CHECK((v30 - v3).norm() < 1e-10); |
| 283 |
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2 | BOOST_CHECK((v31 - v4).norm() < 1e-10); |
| 284 | 2 | } | |
| 285 | |||
| 286 | // | ||
| 287 | // Same as previously, but with a cylindrical obstacle | ||
| 288 | // | ||
| 289 |
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4 | BOOST_AUTO_TEST_CASE(spline_optimization_obstacle) { |
| 290 |
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4 | Eigen::IOFormat eigenFmt(Eigen::FullPrecision); |
| 291 |
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2 | ::hpp::debug::setVerbosityLevel(100); |
| 292 |
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2 | DevicePtr_t robot = createRobot(); |
| 293 |
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2 | Configuration_t q0(robot->configSize()); |
| 294 |
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2 | Configuration_t q1(robot->configSize()); |
| 295 |
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2 | Configuration_t q2(robot->configSize()); |
| 296 |
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2 | Configuration_t q3(robot->configSize()); |
| 297 |
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2 | Configuration_t q4(robot->configSize()); |
| 298 | 2 | value_type s = sqrt(2) / 2; | |
| 299 | 2 | value_type L, t, cost, dt = 0.01; | |
| 300 |
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2 | q0(0) = -1; |
| 301 |
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2 | q0(1) = 0; |
| 302 |
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2 | q0(2) = 0; |
| 303 |
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2 | q0(3) = 1; |
| 304 |
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2 | q1(0) = -s; |
| 305 |
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2 | q1(1) = s; |
| 306 |
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2 | q1(2) = s; |
| 307 |
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2 | q1(3) = s; |
| 308 |
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2 | q2(0) = 0; |
| 309 |
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2 | q2(1) = 1; |
| 310 |
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2 | q2(2) = 1; |
| 311 |
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2 | q2(3) = 0; |
| 312 |
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2 | q3(0) = s; |
| 313 |
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2 | q3(1) = s; |
| 314 |
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2 | q3(2) = s; |
| 315 |
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2 | q3(3) = -s; |
| 316 |
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2 | q4(0) = 1; |
| 317 |
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2 | q4(1) = 0; |
| 318 |
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2 | q4(2) = 0; |
| 319 |
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2 | q4(3) = -1; |
| 320 | |||
| 321 |
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2 | ProblemPtr_t problem = Problem::create(robot); |
| 322 |
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2 | PathValidationPtr_t pv(continuousValidation::Dichotomy::create(robot, 0)); |
| 323 |
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2 | problem->pathValidation(pv); |
| 324 |
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2 | hpp::pinocchio::Model obstacleRModel; |
| 325 |
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2 | hpp::pinocchio::GeomModelPtr_t obstacleModel(new hpp::pinocchio::GeomModel); |
| 326 | hpp::pinocchio::GeomDataPtr_t obstacleData( | ||
| 327 |
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2 | new hpp::pinocchio::GeomData(*obstacleModel)); |
| 328 | pinocchio::GeometryObject::CollisionGeometryPtr cylinder( | ||
| 329 |
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2 | new coal::Cylinder(0.2, 0.2)); |
| 330 |
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2 | matrix3_t I3(matrix3_t::Identity(3, 3)); |
| 331 |
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2 | vector3_t T; |
| 332 |
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2 | T << -.2, 0, 0; |
| 333 |
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2 | pinocchio::SE3 pose(I3, T); |
| 334 |
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4 | ::pinocchio::GeomIndex id = obstacleModel->addGeometryObject( |
| 335 |
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4 | ::pinocchio::GeometryObject("obstacle", 0, cylinder, pose), |
| 336 | obstacleRModel); | ||
| 337 |
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2 | obstacleData->oMg.resize(obstacleModel->ngeoms); |
| 338 |
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2 | obstacleData->oMg[id] = obstacleModel->geometryObjects[id].placement; |
| 339 | CollisionObjectPtr_t object( | ||
| 340 |
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4 | new CollisionObject(obstacleModel, obstacleData, id)); |
| 341 |
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2 | problem->addObstacle(object); |
| 342 | |||
| 343 | 2 | SteeringMethodPtr_t sm = problem->steeringMethod(); | |
| 344 | PathVectorPtr_t path = | ||
| 345 |
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2 | PathVector::create(robot->configSize(), robot->numberDof()); |
| 346 |
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2 | path->appendPath((*sm)(q0, q1)); |
| 347 |
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2 | path->appendPath((*sm)(q1, q2)); |
| 348 |
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2 | path->appendPath((*sm)(q2, q3)); |
| 349 |
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2 | path->appendPath((*sm)(q3, q4)); |
| 350 | |||
| 351 |
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4 | problem->setParameter("SplineGradientBased/alphaInit", |
| 352 |
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4 | hpp::core::Parameter(.5)); |
| 353 | PathOptimizerPtr_t pathOptimizer1( | ||
| 354 |
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4 | pathOptimization::SplineGradientBased<path::BernsteinBasis, 1>::create( |
| 355 | 2 | problem)); | |
| 356 | PathOptimizerPtr_t pathOptimizer3( | ||
| 357 |
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4 | pathOptimization::SplineGradientBased<path::BernsteinBasis, 3>::create( |
| 358 | 2 | problem)); | |
| 359 | PathOptimizerPtr_t pathOptimizer5( | ||
| 360 |
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4 | pathOptimization::SplineGradientBased<path::BernsteinBasis, 5>::create( |
| 361 | 2 | problem)); | |
| 362 |
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2 | PathVectorPtr_t optimizedPath1(pathOptimizer1->optimize(path)); |
| 363 |
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2 | BOOST_CHECK(optimizedPath1->numberPaths() == 4); |
| 364 |
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2 | Configuration_t p00 = optimizedPath1->pathAtRank(0)->initial(); |
| 365 |
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2 | Configuration_t p01 = optimizedPath1->pathAtRank(0)->end(); |
| 366 |
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2 | Configuration_t p10 = optimizedPath1->pathAtRank(1)->initial(); |
| 367 |
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2 | Configuration_t p11 = optimizedPath1->pathAtRank(1)->end(); |
| 368 |
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2 | Configuration_t p20 = optimizedPath1->pathAtRank(2)->initial(); |
| 369 |
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2 | Configuration_t p21 = optimizedPath1->pathAtRank(2)->end(); |
| 370 |
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2 | Configuration_t p30 = optimizedPath1->pathAtRank(3)->initial(); |
| 371 |
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2 | Configuration_t p31 = optimizedPath1->pathAtRank(3)->end(); |
| 372 |
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2 | Configuration_t r1(robot->configSize()); |
| 373 |
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2 | Configuration_t r2(robot->configSize()); |
| 374 |
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2 | Configuration_t r3(robot->configSize()); |
| 375 | // Test spline of degree 1 | ||
| 376 | // Continuity | ||
| 377 |
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2 | BOOST_CHECK((p00 - q0).norm() < 1e-10); |
| 378 |
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2 | BOOST_CHECK((p01 - p10).norm() < 1e-10); |
| 379 |
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2 | BOOST_CHECK((p11 - p20).norm() < 1e-10); |
| 380 |
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2 | BOOST_CHECK((p21 - p30).norm() < 1e-10); |
| 381 |
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2 | BOOST_CHECK((p31 - q4).norm() < 1e-10); |
| 382 |
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2 | L = optimizedPath1->length(); |
| 383 | 2 | t = 0; | |
| 384 | 2 | cost = 0; | |
| 385 |
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624 | while (t <= L) { |
| 386 |
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622 | vector3_t v; |
| 387 |
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622 | optimizedPath1->derivative(v, t, 1); |
| 388 |
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622 | cost += dt * v.norm(); |
| 389 | 622 | t += dt; | |
| 390 | } | ||
| 391 |
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2 | BOOST_CHECK(cost <= 4.); |
| 392 | // Test spline of degree 3 | ||
| 393 |
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2 | PathVectorPtr_t optimizedPath3(pathOptimizer3->optimize(path)); |
| 394 |
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2 | BOOST_CHECK(optimizedPath3->numberPaths() == 4); |
| 395 |
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2 | p00 = optimizedPath3->pathAtRank(0)->initial(); |
| 396 |
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2 | p01 = optimizedPath3->pathAtRank(0)->end(); |
| 397 |
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2 | p10 = optimizedPath3->pathAtRank(1)->initial(); |
| 398 |
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2 | p11 = optimizedPath3->pathAtRank(1)->end(); |
| 399 |
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2 | p20 = optimizedPath3->pathAtRank(2)->initial(); |
| 400 |
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2 | p21 = optimizedPath3->pathAtRank(2)->end(); |
| 401 |
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2 | p30 = optimizedPath3->pathAtRank(3)->initial(); |
| 402 |
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2 | p31 = optimizedPath3->pathAtRank(3)->end(); |
| 403 |
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2 | vector_t v00(robot->numberDof()), v01(robot->numberDof()), |
| 404 |
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2 | v10(robot->numberDof()), v11(robot->numberDof()), v20(robot->numberDof()), |
| 405 |
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2 | v21(robot->numberDof()), v30(robot->numberDof()), v31(robot->numberDof()); |
| 406 |
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2 | L = optimizedPath3->pathAtRank(0)->length(); |
| 407 |
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2 | optimizedPath3->pathAtRank(0)->derivative(v00, 0, 1); |
| 408 |
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2 | optimizedPath3->pathAtRank(0)->derivative(v01, L, 1); |
| 409 |
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2 | L = optimizedPath3->pathAtRank(1)->length(); |
| 410 |
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2 | optimizedPath3->pathAtRank(1)->derivative(v10, 0, 1); |
| 411 |
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2 | optimizedPath3->pathAtRank(1)->derivative(v11, L, 1); |
| 412 |
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2 | L = optimizedPath3->pathAtRank(2)->length(); |
| 413 |
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2 | optimizedPath3->pathAtRank(2)->derivative(v20, 0, 1); |
| 414 |
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2 | optimizedPath3->pathAtRank(2)->derivative(v21, L, 1); |
| 415 |
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2 | L = optimizedPath3->pathAtRank(3)->length(); |
| 416 |
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2 | optimizedPath3->pathAtRank(3)->derivative(v30, 0, 1); |
| 417 |
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2 | optimizedPath3->pathAtRank(3)->derivative(v31, L, 1); |
| 418 | |||
| 419 | // Continuity | ||
| 420 |
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2 | BOOST_CHECK((p00 - q0).norm() < 1e-10); |
| 421 |
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2 | BOOST_CHECK((p01 - p10).norm() < 1e-10); |
| 422 |
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2 | BOOST_CHECK((p11 - p20).norm() < 1e-10); |
| 423 |
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2 | BOOST_CHECK((p21 - p30).norm() < 1e-10); |
| 424 |
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2 | BOOST_CHECK((p31 - q4).norm() < 1e-10); |
| 425 | |||
| 426 |
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2 | vector_t v0(robot->numberDof()), v1(robot->numberDof()), |
| 427 |
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2 | v2(robot->numberDof()), v3(robot->numberDof()), v4(robot->numberDof()); |
| 428 |
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2 | v0 << 0, 0, 0; |
| 429 |
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2 | v4 << 0, 0, 0; |
| 430 | |||
| 431 | // Continuity of the first derivative | ||
| 432 |
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2 | BOOST_CHECK((v00 - v0).norm() < 1e-10); |
| 433 |
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2 | BOOST_CHECK((v01 - v10).norm() < 1e-10); |
| 434 |
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2 | BOOST_CHECK((v11 - v20).norm() < 1e-10); |
| 435 |
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2 | BOOST_CHECK((v21 - v30).norm() < 1e-10); |
| 436 |
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2 | BOOST_CHECK((v31 - v4).norm() < 1e-10); |
| 437 | |||
| 438 |
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2 | L = optimizedPath3->length(); |
| 439 | 2 | t = 0, dt = 0.01; | |
| 440 | 2 | cost = 0; | |
| 441 |
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624 | while (t <= L) { |
| 442 |
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622 | vector3_t v; |
| 443 |
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622 | optimizedPath3->derivative(v, t, 1); |
| 444 |
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622 | cost += dt * v.norm(); |
| 445 | 622 | t += dt; | |
| 446 | } | ||
| 447 |
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2 | BOOST_CHECK(cost <= 4.); |
| 448 | |||
| 449 | // Test spline of degree 5 | ||
| 450 |
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2 | PathVectorPtr_t optimizedPath5(pathOptimizer5->optimize(path)); |
| 451 |
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2 | BOOST_CHECK(optimizedPath5->numberPaths() == 4); |
| 452 |
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2 | p00 = optimizedPath5->pathAtRank(0)->initial(); |
| 453 |
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2 | p01 = optimizedPath5->pathAtRank(0)->end(); |
| 454 |
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2 | p10 = optimizedPath5->pathAtRank(1)->initial(); |
| 455 |
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2 | p11 = optimizedPath5->pathAtRank(1)->end(); |
| 456 |
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2 | p20 = optimizedPath5->pathAtRank(2)->initial(); |
| 457 |
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2 | p21 = optimizedPath5->pathAtRank(2)->end(); |
| 458 |
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2 | p30 = optimizedPath5->pathAtRank(3)->initial(); |
| 459 |
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2 | p31 = optimizedPath5->pathAtRank(3)->end(); |
| 460 | |||
| 461 | // Continuity | ||
| 462 |
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2 | BOOST_CHECK((p00 - q0).norm() < 1e-10); |
| 463 |
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2 | BOOST_CHECK((p01 - p10).norm() < 1e-10); |
| 464 |
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2 | BOOST_CHECK((p11 - p20).norm() < 1e-10); |
| 465 |
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2 | BOOST_CHECK((p21 - p30).norm() < 1e-10); |
| 466 |
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2 | BOOST_CHECK((p31 - q4).norm() < 1e-10); |
| 467 | |||
| 468 |
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2 | L = optimizedPath5->pathAtRank(0)->length(); |
| 469 |
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2 | optimizedPath5->pathAtRank(0)->derivative(v00, 0, 1); |
| 470 |
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2 | optimizedPath5->pathAtRank(0)->derivative(v01, L, 1); |
| 471 |
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2 | L = optimizedPath5->pathAtRank(1)->length(); |
| 472 |
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2 | optimizedPath5->pathAtRank(1)->derivative(v10, 0, 1); |
| 473 |
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2 | optimizedPath5->pathAtRank(1)->derivative(v11, L, 1); |
| 474 |
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2 | L = optimizedPath5->pathAtRank(2)->length(); |
| 475 |
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2 | optimizedPath5->pathAtRank(2)->derivative(v20, 0, 1); |
| 476 |
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2 | optimizedPath5->pathAtRank(2)->derivative(v21, L, 1); |
| 477 |
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2 | L = optimizedPath5->pathAtRank(3)->length(); |
| 478 |
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2 | optimizedPath5->pathAtRank(3)->derivative(v30, 0, 1); |
| 479 |
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2 | optimizedPath5->pathAtRank(3)->derivative(v31, L, 1); |
| 480 | |||
| 481 | // Continuity of the first derivative | ||
| 482 |
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2 | BOOST_CHECK((v00 - v0).norm() < 1e-10); |
| 483 |
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2 | BOOST_CHECK((v01 - v10).norm() < 1e-10); |
| 484 |
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2 | BOOST_CHECK((v11 - v20).norm() < 1e-10); |
| 485 |
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2 | BOOST_CHECK((v21 - v30).norm() < 1e-10); |
| 486 |
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2 | BOOST_CHECK((v31 - v4).norm() < 1e-10); |
| 487 | |||
| 488 |
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2 | L = optimizedPath5->length(); |
| 489 | 2 | t = 0, dt = 0.01; | |
| 490 | 2 | cost = 0; | |
| 491 |
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624 | while (t <= L) { |
| 492 |
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622 | vector3_t v; |
| 493 |
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622 | optimizedPath5->derivative(v, t, 1); |
| 494 |
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622 | cost += dt * v.norm(); |
| 495 | 622 | t += dt; | |
| 496 | } | ||
| 497 |
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2 | BOOST_CHECK(cost <= 4.); |
| 498 | 2 | } | |
| 499 | BOOST_AUTO_TEST_SUITE_END() | ||
| 500 |