| Directory: | ./ |
|---|---|
| File: | tests/test-path-extraction.cc |
| Date: | 2024-08-10 11:29:48 |
| Exec | Total | Coverage | |
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| Lines: | 67 | 87 | 77.0% |
| Branches: | 179 | 378 | 47.4% |
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| 1 | // | ||
| 2 | // Copyright (c) 2016 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 path_extraction | ||
| 31 | |||
| 32 | #include <hpp/fcl/math/transform.h> | ||
| 33 | |||
| 34 | #include <boost/test/included/unit_test.hpp> | ||
| 35 | #include <hpp/core/path-vector.hh> | ||
| 36 | #include <hpp/core/problem.hh> | ||
| 37 | #include <hpp/core/steering-method/straight.hh> | ||
| 38 | #include <hpp/core/time-parameterization/polynomial.hh> | ||
| 39 | #include <pinocchio/fwd.hpp> | ||
| 40 | |||
| 41 | BOOST_AUTO_TEST_SUITE(test_hpp_core) | ||
| 42 | |||
| 43 | using hpp::pinocchio::Configuration_t; | ||
| 44 | using hpp::pinocchio::ConfigurationOut_t; | ||
| 45 | using hpp::pinocchio::Device; | ||
| 46 | using hpp::pinocchio::DevicePtr_t; | ||
| 47 | using hpp::pinocchio::JointConstPtr_t; | ||
| 48 | using hpp::pinocchio::JointPtr_t; | ||
| 49 | |||
| 50 | using namespace hpp::core; | ||
| 51 | |||
| 52 | HPP_PREDEF_CLASS(LocalPath); | ||
| 53 | typedef std::shared_ptr<LocalPath> LocalPathPtr_t; | ||
| 54 | |||
| 55 | class LocalPath : public Path { | ||
| 56 | public: | ||
| 57 | 32 | virtual ~LocalPath() throw() {} | |
| 58 | ✗ | virtual bool impl_compute(ConfigurationOut_t configuration, | |
| 59 | value_type t) const { | ||
| 60 | ✗ | value_type alpha(t - timeRange().first / | |
| 61 | ✗ | (timeRange().second - timeRange().first)); | |
| 62 | ✗ | configuration = (1 - alpha) * q1_ + alpha * q2_; | |
| 63 | ✗ | return true; | |
| 64 | } | ||
| 65 | |||
| 66 | 8 | static LocalPathPtr_t create(const interval_t& interval) { | |
| 67 |
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8 | LocalPath* ptr(new LocalPath(interval)); |
| 68 | 8 | LocalPathPtr_t shPtr(ptr); | |
| 69 |
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8 | ptr->init(shPtr); |
| 70 | 8 | return shPtr; | |
| 71 | } | ||
| 72 | |||
| 73 | ✗ | static LocalPathPtr_t createCopy(const LocalPathPtr_t& other) { | |
| 74 | ✗ | LocalPath* ptr(new LocalPath(*other)); | |
| 75 | ✗ | LocalPathPtr_t shPtr(ptr); | |
| 76 | ✗ | ptr->init(shPtr); | |
| 77 | ✗ | return shPtr; | |
| 78 | } | ||
| 79 | |||
| 80 | ✗ | virtual Configuration_t initial() const { return q1_; } | |
| 81 | |||
| 82 | ✗ | virtual Configuration_t end() const { return q2_; } | |
| 83 | |||
| 84 | ✗ | virtual PathPtr_t copy() const { return createCopy(weak_.lock()); } | |
| 85 | |||
| 86 | ✗ | virtual PathPtr_t copy(const ConstraintSetPtr_t&) const { | |
| 87 | ✗ | return createCopy(weak_.lock()); | |
| 88 | } | ||
| 89 | |||
| 90 | ✗ | virtual std::ostream& print(std::ostream& os) const { | |
| 91 | ✗ | os << "LocalPath between " << q1_[0] << " and " << q2_[0]; | |
| 92 | ✗ | return os; | |
| 93 | } | ||
| 94 | |||
| 95 | protected: | ||
| 96 |
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8 | LocalPath(const interval_t& interval) : Path(interval, 1, 1), q1_(1), q2_(1) { |
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8 | q1_[0] = interval.first; |
| 98 |
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8 | q2_[0] = interval.second; |
| 99 | 8 | } | |
| 100 | |||
| 101 | ✗ | LocalPath(const LocalPath& other) | |
| 102 | ✗ | : Path(other), q1_(other.q1_), q2_(other.q2_) {} | |
| 103 | |||
| 104 | 8 | void init(LocalPathWkPtr_t wkPtr) { | |
| 105 |
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8 | Path::init(wkPtr.lock()); |
| 106 | 8 | weak_ = wkPtr; | |
| 107 | 8 | } | |
| 108 | |||
| 109 | private: | ||
| 110 | Configuration_t q1_, q2_; | ||
| 111 | LocalPathWkPtr_t weak_; | ||
| 112 | }; | ||
| 113 | |||
| 114 |
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4 | BOOST_AUTO_TEST_CASE(path_extraction_1) { |
| 115 |
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2 | PathVectorPtr_t pv(PathVector::create(1, 1)); |
| 116 | // l0 = 0.52843097738664657 | ||
| 117 | 2 | interval_t inter0(std::make_pair(0, 0.52843097738664657)); | |
| 118 | // L0 + l1 = 2.633158413063464 | ||
| 119 | 2 | interval_t inter1(std::make_pair(0, 2.1047274356768177)); | |
| 120 | // l0 + l1 + l2 = 3.331454231080471 | ||
| 121 | 2 | interval_t inter2(std::make_pair(0.6751734883957865, 1.3734693064127934)); | |
| 122 | // l0 + l1 + l2 + l3 = 4.079212904814735 | ||
| 123 | 2 | interval_t inter3(std::make_pair(0.83075838111776035, 1.578517054852024)); | |
| 124 |
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2 | LocalPathPtr_t p0(LocalPath::create(inter0)); |
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2 | LocalPathPtr_t p1(LocalPath::create(inter1)); |
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2 | LocalPathPtr_t p2(LocalPath::create(inter2)); |
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2 | LocalPathPtr_t p3(LocalPath::create(inter3)); |
| 128 |
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2 | pv->appendPath(p0); |
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2 | pv->appendPath(p1); |
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2 | pv->appendPath(p2); |
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2 | pv->appendPath(p3); |
| 132 | |||
| 133 | 2 | value_type tmin(3.7487655421722721), tmax(4.0792129048147352); | |
| 134 |
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2 | PathPtr_t extracted(pv->extract(std::make_pair(tmin, tmax))); |
| 135 |
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2 | BOOST_CHECK_EQUAL(extracted->timeRange().first, 0); |
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2 | BOOST_CHECK_CLOSE(extracted->timeRange().second, tmax - tmin, |
| 137 | std::numeric_limits<float>::epsilon()); | ||
| 138 |
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2 | BOOST_CHECK_CLOSE(extracted->length(), tmax - tmin, |
| 139 | std::numeric_limits<float>::epsilon()); | ||
| 140 | |||
| 141 |
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2 | extracted = pv->extract(std::make_pair(tmax, tmin)); |
| 142 |
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2 | BOOST_CHECK_EQUAL(extracted->timeRange().first, 0); |
| 143 |
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2 | BOOST_CHECK_CLOSE(extracted->timeRange().second, tmax - tmin, |
| 144 | std::numeric_limits<float>::epsilon()); | ||
| 145 |
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2 | BOOST_CHECK_CLOSE(extracted->length(), tmax - tmin, |
| 146 | std::numeric_limits<float>::epsilon()); | ||
| 147 | 2 | } | |
| 148 | |||
| 149 |
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4 | BOOST_AUTO_TEST_CASE(path_extraction_2) { |
| 150 |
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2 | PathVectorPtr_t pv(PathVector::create(1, 1)); |
| 151 | // l0 = 0.52843097738664657 | ||
| 152 | 2 | interval_t inter0(std::make_pair(0, 0.52843097738664657)); | |
| 153 | // L0 + l1 = 2.633158413063464 | ||
| 154 | 2 | interval_t inter1(std::make_pair(0, 2.1047274356768177)); | |
| 155 | // l0 + l1 + l2 = 3.331454231080471 | ||
| 156 | 2 | interval_t inter2(std::make_pair(0.6751734883957865, 1.3734693064127934)); | |
| 157 | // l0 + l1 + l2 + l3 = 4.079212904814735 | ||
| 158 | 2 | interval_t inter3(std::make_pair(0.83075838111776035, 1.578517054852024)); | |
| 159 |
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2 | LocalPathPtr_t p0(LocalPath::create(inter0)); |
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2 | LocalPathPtr_t p1(LocalPath::create(inter1)); |
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2 | LocalPathPtr_t p2(LocalPath::create(inter2)); |
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2 | vector_t a(2); |
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2 | a << 0, 0.5; |
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4 | p2->timeParameterization( |
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4 | TimeParameterizationPtr_t(new timeParameterization::Polynomial(a)), |
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2 | interval_t(0, 2 * p2->length())); |
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2 | LocalPathPtr_t p3(LocalPath::create(inter3)); |
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2 | pv->appendPath(p0); |
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2 | pv->appendPath(p1); |
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2 | pv->appendPath(p2); |
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2 | pv->appendPath(p3); |
| 172 | |||
| 173 | 2 | value_type tmin(3.7487655421722721), tmax(4.0792129048147352); | |
| 174 |
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2 | PathPtr_t extracted(pv->extract(std::make_pair(tmin, tmax))); |
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2 | BOOST_CHECK_EQUAL(extracted->timeRange().first, 0); |
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2 | BOOST_CHECK_CLOSE(extracted->timeRange().second, tmax - tmin, |
| 177 | std::numeric_limits<float>::epsilon()); | ||
| 178 |
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2 | BOOST_CHECK_CLOSE(extracted->length(), tmax - tmin, |
| 179 | std::numeric_limits<float>::epsilon()); | ||
| 180 | |||
| 181 |
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2 | extracted = pv->extract(std::make_pair(tmax, tmin)); |
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2 | BOOST_CHECK_EQUAL(extracted->timeRange().first, 0); |
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2 | BOOST_CHECK_CLOSE(extracted->timeRange().second, tmax - tmin, |
| 184 | std::numeric_limits<float>::epsilon()); | ||
| 185 |
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2 | BOOST_CHECK_CLOSE(extracted->length(), tmax - tmin, |
| 186 | std::numeric_limits<float>::epsilon()); | ||
| 187 | 2 | } | |
| 188 | |||
| 189 | BOOST_AUTO_TEST_SUITE_END() | ||
| 190 |