| Directory: | ./ |
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| File: | tests/test-solid-solid-collision.cc |
| Date: | 2024-08-10 11:29:48 |
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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 | #include <hpp/fcl/fwd.hh> | ||
| 31 | #define BOOST_TEST_MODULE solid_solid_collision | ||
| 32 | #include <hpp/fcl/math/transform.h> | ||
| 33 | #include <hpp/fcl/shape/geometric_shapes.h> | ||
| 34 | |||
| 35 | #include <boost/test/included/unit_test.hpp> | ||
| 36 | #include <hpp/core/continuous-validation/solid-solid-collision.hh> | ||
| 37 | #include <hpp/pinocchio/device.hh> | ||
| 38 | #include <hpp/pinocchio/joint.hh> | ||
| 39 | #include <hpp/pinocchio/simple-device.hh> | ||
| 40 | #include <limits> | ||
| 41 | #include <pinocchio/fwd.hpp> | ||
| 42 | #include <pinocchio/multibody/geometry.hpp> | ||
| 43 | #include <pinocchio/multibody/model.hpp> | ||
| 44 | |||
| 45 | using hpp::core::continuousValidation::CoefficientVelocities_t; | ||
| 46 | using hpp::core::continuousValidation::SolidSolidCollision; | ||
| 47 | using hpp::core::continuousValidation::SolidSolidCollisionPtr_t; | ||
| 48 | using hpp::pinocchio::BodyPtr_t; | ||
| 49 | using hpp::pinocchio::CollisionObject; | ||
| 50 | using hpp::pinocchio::CollisionObjectPtr_t; | ||
| 51 | using hpp::pinocchio::Device; | ||
| 52 | using hpp::pinocchio::DevicePtr_t; | ||
| 53 | using hpp::pinocchio::JointConstPtr_t; | ||
| 54 | using hpp::pinocchio::JointPtr_t; | ||
| 55 | using hpp::pinocchio::ObjectVector_t; | ||
| 56 | using std::numeric_limits; | ||
| 57 | |||
| 58 | using namespace hpp::core; | ||
| 59 | using namespace hpp::pinocchio; | ||
| 60 | |||
| 61 | 4 | void display(const Model& model, const CoefficientVelocities_t& cvs) { | |
| 62 | 4 | CoefficientVelocities_t::const_iterator it; | |
| 63 |
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28 | for (it = cvs.begin(); it != cvs.end(); ++it) { |
| 64 | 24 | size_type jidx = it->joint_->index(); | |
| 65 |
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24 | if (jidx > 0) |
| 66 |
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24 | std::cout << model.names[jidx]; |
| 67 | else | ||
| 68 | ✗ | std::cout << "None"; | |
| 69 |
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24 | std::cout << ", "; |
| 70 | } | ||
| 71 |
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4 | std::cout << std::endl; |
| 72 | 4 | } | |
| 73 | |||
| 74 | BOOST_AUTO_TEST_SUITE(test_hpp_core) | ||
| 75 | |||
| 76 | 1 | DevicePtr_t createRobot() { | |
| 77 |
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2 | DevicePtr_t robot = unittest::makeDevice(unittest::HumanoidSimple); |
| 78 | 1 | return robot; | |
| 79 | } | ||
| 80 | |||
| 81 |
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4 | BOOST_AUTO_TEST_CASE(solid_solid_collision_1) { |
| 82 |
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2 | DevicePtr_t robot = createRobot(); |
| 83 | 2 | const Model& model = robot->model(); | |
| 84 |
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4 | JointPtr_t joint_a = robot->getJointByBodyName("lleg5_body"); |
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4 | JointPtr_t joint_b = robot->getJointByBodyName("rleg5_body"); |
| 86 | |||
| 87 | SolidSolidCollisionPtr_t bpc = | ||
| 88 |
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2 | SolidSolidCollision::create(joint_a, joint_b, 0.001); |
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2 | display(model, bpc->coefficients()); |
| 90 | |||
| 91 | 2 | ConstObjectStdVector_t obstacles; | |
| 92 |
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2 | auto box = hpp::fcl::make_shared<hpp::fcl::Box>(.2, .4, .6); |
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2 | Transform3f I3; |
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2 | I3.setIdentity(); |
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4 | pinocchio::FrameIndex frame_id = robot->model().addFrame( |
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4 | ::pinocchio::Frame("base_link", 0, 0, I3, ::pinocchio::BODY)); |
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4 | GeomIndex idObj = robot->geomModel().addGeometryObject( |
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8 | ::pinocchio::GeometryObject("obstacle", frame_id, 0, box, I3, "", |
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4 | vector3_t::Ones()), |
| 100 | 2 | robot->model()); | |
| 101 | CollisionObjectPtr_t collObj( | ||
| 102 |
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4 | new CollisionObject(robot->geomModelPtr(), robot->geomDataPtr(), idObj)); |
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2 | obstacles.push_back(collObj); |
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2 | bpc = SolidSolidCollision::create(joint_a, obstacles, 0.001); |
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2 | display(model, bpc->coefficients()); |
| 106 | |||
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2 | joint_a = robot->getJointByBodyName("lleg5_body"); |
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2 | joint_b = robot->getJointByBodyName("lleg1_body"); |
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2 | bpc = SolidSolidCollision::create(joint_a, joint_b, 0.001); |
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2 | display(model, bpc->coefficients()); |
| 111 | |||
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2 | joint_a = robot->getJointByBodyName("lleg1_body"); |
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2 | joint_b = robot->getJointByBodyName("lleg5_body"); |
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2 | bpc = SolidSolidCollision::create(joint_a, joint_b, 0.001); |
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2 | display(model, bpc->coefficients()); |
| 116 | 2 | } | |
| 117 | |||
| 118 | BOOST_AUTO_TEST_SUITE_END() | ||
| 119 |