Directory: | ./ |
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File: | tests/test-path-extraction.cc |
Date: | 2024-08-10 11:29:48 |
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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) { |
97 |
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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)); |
125 |
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2 | LocalPathPtr_t p1(LocalPath::create(inter1)); |
126 |
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2 | LocalPathPtr_t p2(LocalPath::create(inter2)); |
127 |
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2 | LocalPathPtr_t p3(LocalPath::create(inter3)); |
128 |
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2 | pv->appendPath(p0); |
129 |
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2 | pv->appendPath(p1); |
130 |
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2 | pv->appendPath(p2); |
131 |
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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); |
136 |
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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)); |
160 |
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2 | LocalPathPtr_t p1(LocalPath::create(inter1)); |
161 |
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2 | LocalPathPtr_t p2(LocalPath::create(inter2)); |
162 |
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2 | vector_t a(2); |
163 |
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2 | a << 0, 0.5; |
164 |
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4 | p2->timeParameterization( |
165 |
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4 | TimeParameterizationPtr_t(new timeParameterization::Polynomial(a)), |
166 |
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2 | interval_t(0, 2 * p2->length())); |
167 |
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2 | LocalPathPtr_t p3(LocalPath::create(inter3)); |
168 |
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2 | pv->appendPath(p0); |
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2 | pv->appendPath(p1); |
170 |
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2 | pv->appendPath(p2); |
171 |
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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))); |
175 |
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2 | BOOST_CHECK_EQUAL(extracted->timeRange().first, 0); |
176 |
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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)); |
182 |
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2 | BOOST_CHECK_EQUAL(extracted->timeRange().first, 0); |
183 |
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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 |