| Directory: | ./ |
|---|---|
| File: | unittest/test_constraint_manager.cpp |
| Date: | 2025-01-16 08:47:40 |
| Exec | Total | Coverage | |
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| Lines: | 304 | 304 | 100.0% |
| Branches: | 649 | 1282 | 50.6% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2023, University of Edinburgh, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #define BOOST_TEST_NO_MAIN | ||
| 10 | #define BOOST_TEST_ALTERNATIVE_INIT_API | ||
| 11 | |||
| 12 | #include "crocoddyl/core/actions/lqr.hpp" | ||
| 13 | #include "crocoddyl/multibody/data/multibody.hpp" | ||
| 14 | #include "factory/constraint.hpp" | ||
| 15 | #include "unittest_common.hpp" | ||
| 16 | |||
| 17 | using namespace boost::unit_test; | ||
| 18 | using namespace crocoddyl::unittest; | ||
| 19 | |||
| 20 | //----------------------------------------------------------------------------// | ||
| 21 | |||
| 22 | 3 | void test_constructor(StateModelTypes::Type state_type) { | |
| 23 | // Setup the test | ||
| 24 |
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3 | StateModelFactory state_factory; |
| 25 |
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3 | crocoddyl::ConstraintModelManager model(state_factory.create(state_type)); |
| 26 | |||
| 27 | // Run the print function | ||
| 28 |
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3 | std::ostringstream tmp; |
| 29 |
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3 | tmp << model; |
| 30 | |||
| 31 | // Test the initial size of the map | ||
| 32 |
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3 | BOOST_CHECK(model.get_constraints().size() == 0); |
| 33 | 3 | } | |
| 34 | |||
| 35 | 3 | void test_addConstraint(StateModelTypes::Type state_type) { | |
| 36 | // Setup the test | ||
| 37 |
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3 | StateModelFactory state_factory; |
| 38 |
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3 | crocoddyl::ConstraintModelManager model(state_factory.create(state_type)); |
| 39 | |||
| 40 | // add an active constraint | ||
| 41 | boost::shared_ptr<crocoddyl::ConstraintModelAbstract> rand_constraint_1 = | ||
| 42 |
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3 | create_random_constraint(state_type); |
| 43 |
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3 | model.addConstraint("random_constraint_1", rand_constraint_1); |
| 44 | 3 | std::size_t ng = rand_constraint_1->get_ng(); | |
| 45 | 3 | std::size_t nh = rand_constraint_1->get_nh(); | |
| 46 |
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3 | std::size_t ng_T = rand_constraint_1->get_T_constraint() ? ng : 0; |
| 47 |
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3 | std::size_t nh_T = rand_constraint_1->get_T_constraint() ? nh : 0; |
| 48 |
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3 | BOOST_CHECK(model.get_ng() == ng); |
| 49 |
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3 | BOOST_CHECK(model.get_nh() == nh); |
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3 | BOOST_CHECK(model.get_ng_T() == ng_T); |
| 51 |
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3 | BOOST_CHECK(model.get_nh_T() == nh_T); |
| 52 | |||
| 53 | // add an inactive constraint | ||
| 54 | boost::shared_ptr<crocoddyl::ConstraintModelAbstract> rand_constraint_2 = | ||
| 55 |
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3 | create_random_constraint(state_type); |
| 56 |
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3 | model.addConstraint("random_constraint_2", rand_constraint_2, false); |
| 57 |
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3 | BOOST_CHECK(model.get_ng() == ng); |
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3 | BOOST_CHECK(model.get_nh() == nh); |
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3 | BOOST_CHECK(model.get_ng_T() == ng_T); |
| 60 |
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3 | BOOST_CHECK(model.get_nh_T() == nh_T); |
| 61 | |||
| 62 | // change the random constraint 2 status | ||
| 63 |
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3 | model.changeConstraintStatus("random_constraint_2", true); |
| 64 | 3 | ng += rand_constraint_2->get_ng(); | |
| 65 | 3 | nh += rand_constraint_2->get_nh(); | |
| 66 |
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3 | if (rand_constraint_2->get_T_constraint()) { |
| 67 | 3 | ng_T += rand_constraint_2->get_ng(); | |
| 68 | 3 | nh_T += rand_constraint_2->get_nh(); | |
| 69 | } | ||
| 70 |
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3 | BOOST_CHECK(model.get_ng() == ng); |
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3 | BOOST_CHECK(model.get_nh() == nh); |
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3 | BOOST_CHECK(model.get_ng_T() == ng_T); |
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3 | BOOST_CHECK(model.get_nh_T() == nh_T); |
| 74 | |||
| 75 | // change the random constraint 1 status | ||
| 76 |
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3 | model.changeConstraintStatus("random_constraint_1", false); |
| 77 | 3 | ng -= rand_constraint_1->get_ng(); | |
| 78 | 3 | nh -= rand_constraint_1->get_nh(); | |
| 79 |
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3 | if (rand_constraint_1->get_T_constraint()) { |
| 80 | 3 | ng_T -= rand_constraint_1->get_ng(); | |
| 81 | 3 | nh_T -= rand_constraint_1->get_nh(); | |
| 82 | } | ||
| 83 |
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3 | BOOST_CHECK(model.get_ng() == ng); |
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3 | BOOST_CHECK(model.get_nh() == nh); |
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3 | BOOST_CHECK(model.get_ng_T() == ng_T); |
| 86 |
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3 | BOOST_CHECK(model.get_nh_T() == nh_T); |
| 87 | 3 | } | |
| 88 | |||
| 89 | 3 | void test_addConstraint_error_message(StateModelTypes::Type state_type) { | |
| 90 | // Setup the test | ||
| 91 |
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3 | StateModelFactory state_factory; |
| 92 |
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3 | crocoddyl::ConstraintModelManager model(state_factory.create(state_type)); |
| 93 | |||
| 94 | // create an constraint object | ||
| 95 | boost::shared_ptr<crocoddyl::ConstraintModelAbstract> rand_constraint = | ||
| 96 |
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3 | create_random_constraint(state_type); |
| 97 | |||
| 98 | // add twice the same constraint object to the container | ||
| 99 |
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3 | model.addConstraint("random_constraint", rand_constraint); |
| 100 | |||
| 101 | // test error message when we add a duplicate constraint | ||
| 102 |
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3 | CaptureIOStream capture_ios; |
| 103 |
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3 | capture_ios.beginCapture(); |
| 104 |
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3 | model.addConstraint("random_constraint", rand_constraint); |
| 105 |
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3 | capture_ios.endCapture(); |
| 106 |
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3 | std::stringstream expected_buffer; |
| 107 | expected_buffer << "Warning: we couldn't add the random_constraint " | ||
| 108 |
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3 | "constraint item, it already existed." |
| 109 |
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3 | << std::endl; |
| 110 |
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3 | BOOST_CHECK(capture_ios.str() == expected_buffer.str()); |
| 111 | |||
| 112 | // test error message when we change the constraint status of an inexistent | ||
| 113 | // constraint | ||
| 114 |
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3 | capture_ios.beginCapture(); |
| 115 |
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3 | model.changeConstraintStatus("no_exist_constraint", true); |
| 116 |
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3 | capture_ios.endCapture(); |
| 117 |
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3 | expected_buffer.clear(); |
| 118 | expected_buffer << "Warning: we couldn't change the status of the " | ||
| 119 |
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3 | "no_exist_constraint constraint item, it doesn't exist." |
| 120 |
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3 | << std::endl; |
| 121 |
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3 | BOOST_CHECK(capture_ios.str() == expected_buffer.str()); |
| 122 | 3 | } | |
| 123 | |||
| 124 | 3 | void test_removeConstraint(StateModelTypes::Type state_type) { | |
| 125 | // Setup the test | ||
| 126 |
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3 | StateModelFactory state_factory; |
| 127 |
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3 | crocoddyl::ConstraintModelManager model(state_factory.create(state_type)); |
| 128 | |||
| 129 | // add an active constraint | ||
| 130 | boost::shared_ptr<crocoddyl::ConstraintModelAbstract> rand_constraint = | ||
| 131 |
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3 | create_random_constraint(state_type); |
| 132 |
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3 | model.addConstraint("random_constraint", rand_constraint); |
| 133 | 3 | std::size_t ng = rand_constraint->get_ng(); | |
| 134 | 3 | std::size_t nh = rand_constraint->get_nh(); | |
| 135 |
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3 | std::size_t ng_T = rand_constraint->get_T_constraint() ? ng : 0; |
| 136 |
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3 | std::size_t nh_T = rand_constraint->get_T_constraint() ? nh : 0; |
| 137 |
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3 | BOOST_CHECK(model.get_ng() == ng); |
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3 | BOOST_CHECK(model.get_nh() == nh); |
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3 | BOOST_CHECK(model.get_ng_T() == ng_T); |
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3 | BOOST_CHECK(model.get_nh_T() == nh_T); |
| 141 | |||
| 142 | // remove the constraint | ||
| 143 |
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3 | model.removeConstraint("random_constraint"); |
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3 | BOOST_CHECK(model.get_ng() == 0); |
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3 | BOOST_CHECK(model.get_nh() == 0); |
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3 | BOOST_CHECK(model.get_ng_T() == 0); |
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3 | BOOST_CHECK(model.get_nh_T() == 0); |
| 148 | 3 | } | |
| 149 | |||
| 150 | 3 | void test_removeConstraint_error_message(StateModelTypes::Type state_type) { | |
| 151 | // Setup the test | ||
| 152 |
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3 | StateModelFactory state_factory; |
| 153 |
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3 | crocoddyl::ConstraintModelManager model(state_factory.create(state_type)); |
| 154 | |||
| 155 | // remove a none existing constraint form the container, we expect a cout | ||
| 156 | // message here | ||
| 157 |
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3 | CaptureIOStream capture_ios; |
| 158 |
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3 | capture_ios.beginCapture(); |
| 159 |
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3 | model.removeConstraint("random_constraint"); |
| 160 |
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3 | capture_ios.endCapture(); |
| 161 | |||
| 162 | // Test that the error message is sent. | ||
| 163 |
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3 | std::stringstream expected_buffer; |
| 164 | expected_buffer << "Warning: we couldn't remove the random_constraint " | ||
| 165 |
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3 | "constraint item, it doesn't exist." |
| 166 |
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3 | << std::endl; |
| 167 |
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3 | BOOST_CHECK(capture_ios.str() == expected_buffer.str()); |
| 168 | 3 | } | |
| 169 | |||
| 170 | 3 | void test_calc(StateModelTypes::Type state_type) { | |
| 171 | // setup the test | ||
| 172 |
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3 | StateModelFactory state_factory; |
| 173 |
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3 | crocoddyl::ConstraintModelManager model(state_factory.create(state_type)); |
| 174 | // create the corresponding data object | ||
| 175 | const boost::shared_ptr<crocoddyl::StateMultibody>& state = | ||
| 176 | 3 | boost::static_pointer_cast<crocoddyl::StateMultibody>(model.get_state()); | |
| 177 | 3 | pinocchio::Model& pinocchio_model = *state->get_pinocchio().get(); | |
| 178 |
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3 | pinocchio::Data pinocchio_data(pinocchio_model); |
| 179 |
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3 | crocoddyl::DataCollectorMultibody shared_data(&pinocchio_data); |
| 180 | |||
| 181 | // create and add some constraint objects | ||
| 182 | 3 | std::vector<boost::shared_ptr<crocoddyl::ConstraintModelAbstract> > models; | |
| 183 | 3 | std::vector<boost::shared_ptr<crocoddyl::ConstraintDataAbstract> > datas; | |
| 184 |
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18 | for (std::size_t i = 0; i < 5; ++i) { |
| 185 |
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15 | std::ostringstream os; |
| 186 |
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15 | os << "random_constraint_" << i; |
| 187 | const boost::shared_ptr<crocoddyl::ConstraintModelAbstract>& m = | ||
| 188 |
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15 | create_random_constraint(state_type); |
| 189 |
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15 | model.addConstraint(os.str(), m, 1.); |
| 190 |
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15 | models.push_back(m); |
| 191 |
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15 | datas.push_back(m->createData(&shared_data)); |
| 192 | 15 | } | |
| 193 | |||
| 194 | // create the data of the constraint sum | ||
| 195 | const boost::shared_ptr<crocoddyl::ConstraintDataManager>& data = | ||
| 196 |
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3 | model.createData(&shared_data); |
| 197 | |||
| 198 | // compute the constraint sum data for the case when all constraints are | ||
| 199 | // defined as active | ||
| 200 |
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3 | const Eigen::VectorXd& x1 = state->rand(); |
| 201 |
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3 | const Eigen::VectorXd& u1 = Eigen::VectorXd::Random(model.get_nu()); |
| 202 |
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3 | crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, |
| 203 | x1); | ||
| 204 |
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3 | model.calc(data, x1, u1); |
| 205 | |||
| 206 | // check the constraint against single constraint computations | ||
| 207 | 3 | std::size_t ng_i = 0; | |
| 208 | 3 | std::size_t nh_i = 0; | |
| 209 |
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3 | Eigen::VectorXd g = Eigen::VectorXd::Zero(model.get_ng()); |
| 210 |
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3 | Eigen::VectorXd h = Eigen::VectorXd::Zero(model.get_nh()); |
| 211 |
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18 | for (std::size_t i = 0; i < 5; ++i) { |
| 212 |
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15 | models[i]->calc(datas[i], x1, u1); |
| 213 | 15 | const std::size_t ng = models[i]->get_ng(); | |
| 214 | 15 | const std::size_t nh = models[i]->get_nh(); | |
| 215 |
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15 | g.segment(ng_i, ng) = datas[i]->g; |
| 216 |
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15 | h.segment(nh_i, nh) = datas[i]->h; |
| 217 | 15 | ng_i += ng; | |
| 218 | 15 | nh_i += nh; | |
| 219 | } | ||
| 220 |
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3 | BOOST_CHECK(data->g.isApprox(g, 1e-9)); |
| 221 |
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3 | BOOST_CHECK(data->h.isApprox(h, 1e-9)); |
| 222 | 3 | } | |
| 223 | |||
| 224 | 3 | void test_calcDiff(StateModelTypes::Type state_type) { | |
| 225 | // setup the test | ||
| 226 |
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3 | StateModelFactory state_factory; |
| 227 |
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3 | crocoddyl::ConstraintModelManager model(state_factory.create(state_type)); |
| 228 | // create the corresponding data object | ||
| 229 | const boost::shared_ptr<crocoddyl::StateMultibody>& state = | ||
| 230 | 3 | boost::static_pointer_cast<crocoddyl::StateMultibody>(model.get_state()); | |
| 231 | 3 | pinocchio::Model& pinocchio_model = *state->get_pinocchio().get(); | |
| 232 |
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3 | pinocchio::Data pinocchio_data(pinocchio_model); |
| 233 |
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3 | crocoddyl::DataCollectorMultibody shared_data(&pinocchio_data); |
| 234 | |||
| 235 | // create and add some constraint objects | ||
| 236 | 3 | std::vector<boost::shared_ptr<crocoddyl::ConstraintModelAbstract> > models; | |
| 237 | 3 | std::vector<boost::shared_ptr<crocoddyl::ConstraintDataAbstract> > datas; | |
| 238 |
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18 | for (std::size_t i = 0; i < 5; ++i) { |
| 239 |
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15 | std::ostringstream os; |
| 240 |
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15 | os << "random_constraint_" << i; |
| 241 | const boost::shared_ptr<crocoddyl::ConstraintModelAbstract>& m = | ||
| 242 |
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15 | create_random_constraint(state_type); |
| 243 |
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15 | model.addConstraint(os.str(), m, 1.); |
| 244 |
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15 | models.push_back(m); |
| 245 |
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15 | datas.push_back(m->createData(&shared_data)); |
| 246 | 15 | } | |
| 247 | |||
| 248 | // create the data of the constraint sum | ||
| 249 | const boost::shared_ptr<crocoddyl::ConstraintDataManager>& data = | ||
| 250 |
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3 | model.createData(&shared_data); |
| 251 | |||
| 252 | // compute the constraint sum data for the case when all constraints are | ||
| 253 | // defined as active | ||
| 254 |
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3 | Eigen::VectorXd x1 = state->rand(); |
| 255 |
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3 | const Eigen::VectorXd u1 = Eigen::VectorXd::Random(model.get_nu()); |
| 256 |
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3 | crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, |
| 257 | x1); | ||
| 258 |
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3 | model.calc(data, x1, u1); |
| 259 |
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3 | model.calcDiff(data, x1, u1); |
| 260 | |||
| 261 | // check the constraint against single constraint computations | ||
| 262 | 3 | std::size_t ng_i = 0; | |
| 263 | 3 | std::size_t nh_i = 0; | |
| 264 | 3 | const std::size_t ndx = state->get_ndx(); | |
| 265 | 3 | const std::size_t nu = model.get_nu(); | |
| 266 |
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3 | Eigen::VectorXd g = Eigen::VectorXd::Zero(model.get_ng()); |
| 267 |
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3 | Eigen::VectorXd h = Eigen::VectorXd::Zero(model.get_nh()); |
| 268 |
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3 | Eigen::MatrixXd Gx = Eigen::MatrixXd::Zero(model.get_ng(), ndx); |
| 269 |
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3 | Eigen::MatrixXd Gu = Eigen::MatrixXd::Zero(model.get_ng(), nu); |
| 270 |
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3 | Eigen::MatrixXd Hx = Eigen::MatrixXd::Zero(model.get_nh(), ndx); |
| 271 |
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3 | Eigen::MatrixXd Hu = Eigen::MatrixXd::Zero(model.get_nh(), nu); |
| 272 |
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18 | for (std::size_t i = 0; i < 5; ++i) { |
| 273 |
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15 | models[i]->calc(datas[i], x1, u1); |
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15 | models[i]->calcDiff(datas[i], x1, u1); |
| 275 | 15 | const std::size_t ng = models[i]->get_ng(); | |
| 276 | 15 | const std::size_t nh = models[i]->get_nh(); | |
| 277 |
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15 | g.segment(ng_i, ng) = datas[i]->g; |
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15 | h.segment(nh_i, nh) = datas[i]->h; |
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15 | Gx.block(ng_i, 0, ng, ndx) = datas[i]->Gx; |
| 280 |
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15 | Gu.block(ng_i, 0, ng, nu) = datas[i]->Gu; |
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15 | Hx.block(nh_i, 0, nh, ndx) = datas[i]->Hx; |
| 282 |
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15 | Hu.block(nh_i, 0, nh, nu) = datas[i]->Hu; |
| 283 | 15 | ng_i += ng; | |
| 284 | 15 | nh_i += nh; | |
| 285 | } | ||
| 286 |
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3 | BOOST_CHECK(data->g.isApprox(g, 1e-9)); |
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3 | BOOST_CHECK(data->h.isApprox(h, 1e-9)); |
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3 | BOOST_CHECK(data->Gx.isApprox(Gx, 1e-9)); |
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3 | BOOST_CHECK(data->Gu.isApprox(Gu, 1e-9)); |
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3 | BOOST_CHECK(data->Hx.isApprox(Hx, 1e-9)); |
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3 | BOOST_CHECK(data->Hu.isApprox(Hu, 1e-9)); |
| 292 | |||
| 293 |
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3 | x1 = state->rand(); |
| 294 |
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3 | crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, |
| 295 | x1); | ||
| 296 |
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3 | data->resize(&model, false); |
| 297 |
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3 | model.calc(data, x1); |
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3 | model.calcDiff(data, x1); |
| 299 | |||
| 300 | 3 | const std::size_t ng_T = model.get_ng_T(); | |
| 301 | 3 | const std::size_t nh_T = model.get_nh_T(); | |
| 302 | 3 | ng_i = 0; | |
| 303 | 3 | nh_i = 0; | |
| 304 |
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3 | g.conservativeResize(ng_T); |
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3 | h.conservativeResize(nh_T); |
| 306 |
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3 | Gx.conservativeResize(ng_T, ndx); |
| 307 |
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3 | Gu.conservativeResize(ng_T, nu); |
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3 | Hx.conservativeResize(nh_T, ndx); |
| 309 |
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3 | Hu.conservativeResize(nh_T, nu); |
| 310 |
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18 | for (std::size_t i = 0; i < 5; ++i) { |
| 311 |
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15 | if (models[i]->get_T_constraint()) { |
| 312 |
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12 | models[i]->calc(datas[i], x1); |
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12 | models[i]->calcDiff(datas[i], x1); |
| 314 | 12 | const std::size_t ng = models[i]->get_ng(); | |
| 315 | 12 | const std::size_t nh = models[i]->get_nh(); | |
| 316 |
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12 | g.segment(ng_i, ng) = datas[i]->g; |
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12 | h.segment(nh_i, nh) = datas[i]->h; |
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12 | Gx.block(ng_i, 0, ng, ndx) = datas[i]->Gx; |
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12 | Gu.block(ng_i, 0, ng, nu) = datas[i]->Gu; |
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12 | Hx.block(nh_i, 0, nh, ndx) = datas[i]->Hx; |
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12 | Hu.block(nh_i, 0, nh, nu) = datas[i]->Hu; |
| 322 | 12 | ng_i += ng; | |
| 323 | 12 | nh_i += nh; | |
| 324 | } | ||
| 325 | } | ||
| 326 |
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3 | BOOST_CHECK(data->g.isApprox(g, 1e-9)); |
| 327 |
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3 | BOOST_CHECK(data->h.isApprox(h, 1e-9)); |
| 328 |
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3 | BOOST_CHECK(data->Gx.isApprox(Gx, 1e-9)); |
| 329 |
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3 | BOOST_CHECK(data->Hx.isApprox(Hx, 1e-9)); |
| 330 | 3 | } | |
| 331 | |||
| 332 | 3 | void test_get_constraints(StateModelTypes::Type state_type) { | |
| 333 | // setup the test | ||
| 334 |
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3 | StateModelFactory state_factory; |
| 335 |
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3 | crocoddyl::ConstraintModelManager model(state_factory.create(state_type)); |
| 336 | // create the corresponding data object | ||
| 337 | const boost::shared_ptr<crocoddyl::StateMultibody>& state = | ||
| 338 | 3 | boost::static_pointer_cast<crocoddyl::StateMultibody>(model.get_state()); | |
| 339 |
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3 | pinocchio::Data pinocchio_data(*state->get_pinocchio().get()); |
| 340 | |||
| 341 | // create and add some contact objects | ||
| 342 |
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18 | for (unsigned i = 0; i < 5; ++i) { |
| 343 |
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15 | std::ostringstream os; |
| 344 |
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15 | os << "random_constraint_" << i; |
| 345 |
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15 | model.addConstraint(os.str(), create_random_constraint(state_type), 1.); |
| 346 | 15 | } | |
| 347 | |||
| 348 | // get the contacts | ||
| 349 | const crocoddyl::ConstraintModelManager::ConstraintModelContainer& | ||
| 350 | 3 | constraints = model.get_constraints(); | |
| 351 | |||
| 352 | // test | ||
| 353 | crocoddyl::ConstraintModelManager::ConstraintModelContainer::const_iterator | ||
| 354 | 3 | it_m, | |
| 355 | 3 | end_m; | |
| 356 | unsigned i; | ||
| 357 | 3 | for (i = 0, it_m = constraints.begin(), end_m = constraints.end(); | |
| 358 |
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18 | it_m != end_m; ++it_m, ++i) { |
| 359 |
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15 | std::ostringstream os; |
| 360 |
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15 | os << "random_constraint_" << i; |
| 361 |
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15 | BOOST_CHECK(it_m->first == os.str()); |
| 362 | 15 | } | |
| 363 | 3 | } | |
| 364 | |||
| 365 | 3 | void test_shareMemory(StateModelTypes::Type state_type) { | |
| 366 | // setup the test | ||
| 367 |
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3 | StateModelFactory state_factory; |
| 368 | const boost::shared_ptr<crocoddyl::StateAbstract> state = | ||
| 369 |
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3 | state_factory.create(state_type); |
| 370 |
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3 | crocoddyl::ConstraintModelManager constraint_model(state); |
| 371 | 3 | crocoddyl::DataCollectorAbstract shared_data; | |
| 372 | const boost::shared_ptr<crocoddyl::ConstraintDataManager>& constraint_data = | ||
| 373 |
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3 | constraint_model.createData(&shared_data); |
| 374 | |||
| 375 | 3 | std::size_t ng = state->get_ndx(); | |
| 376 | 3 | std::size_t nh = state->get_ndx(); | |
| 377 | 3 | const std::size_t ndx = state->get_ndx(); | |
| 378 | 3 | const std::size_t nu = constraint_model.get_nu(); | |
| 379 |
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3 | crocoddyl::ActionModelLQR action_model(ndx, nu); |
| 380 | const boost::shared_ptr<crocoddyl::ActionDataAbstract>& action_data = | ||
| 381 |
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3 | action_model.createData(); |
| 382 | |||
| 383 |
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3 | action_data->h.resize(nh); |
| 384 |
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3 | action_data->g.resize(ng); |
| 385 |
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3 | action_data->Gx.resize(ng, ndx); |
| 386 |
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3 | action_data->Gu.resize(ng, nu); |
| 387 |
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3 | action_data->Hx.resize(nh, ndx); |
| 388 |
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3 | action_data->Hu.resize(nh, nu); |
| 389 |
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3 | constraint_data->shareMemory(action_data.get()); |
| 390 |
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3 | constraint_data->h = Eigen::VectorXd::Random(nh); |
| 391 |
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3 | constraint_data->g = Eigen::VectorXd::Random(ng); |
| 392 |
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3 | constraint_data->Gx = Eigen::MatrixXd::Random(ng, ndx); |
| 393 |
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3 | constraint_data->Gu = Eigen::MatrixXd::Random(ng, nu); |
| 394 |
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3 | constraint_data->Hx = Eigen::MatrixXd::Random(nh, ndx); |
| 395 |
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3 | constraint_data->Hu = Eigen::MatrixXd::Random(nh, nu); |
| 396 | |||
| 397 | // check that the data has been shared | ||
| 398 |
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3 | BOOST_CHECK(action_data->g.isApprox(constraint_data->g, 1e-9)); |
| 399 |
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3 | BOOST_CHECK(action_data->h.isApprox(constraint_data->h, 1e-9)); |
| 400 |
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3 | BOOST_CHECK(action_data->Gx.isApprox(constraint_data->Gx, 1e-9)); |
| 401 |
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3 | BOOST_CHECK(action_data->Gu.isApprox(constraint_data->Gu, 1e-9)); |
| 402 |
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3 | BOOST_CHECK(action_data->Hx.isApprox(constraint_data->Hx, 1e-9)); |
| 403 |
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3 | BOOST_CHECK(action_data->Hu.isApprox(constraint_data->Hu, 1e-9)); |
| 404 | |||
| 405 | // let's now resize the data | ||
| 406 |
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3 | constraint_data->resize(&action_model, action_data.get()); |
| 407 | |||
| 408 | // check that the shared data has been resized | ||
| 409 |
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3 | BOOST_CHECK(action_data->g.isApprox(constraint_data->g, 1e-9)); |
| 410 |
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3 | BOOST_CHECK(action_data->h.isApprox(constraint_data->h, 1e-9)); |
| 411 |
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3 | BOOST_CHECK(action_data->Gx.isApprox(constraint_data->Gx, 1e-9)); |
| 412 |
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3 | BOOST_CHECK(action_data->Gu.isApprox(constraint_data->Gu, 1e-9)); |
| 413 |
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3 | BOOST_CHECK(action_data->Hx.isApprox(constraint_data->Hx, 1e-9)); |
| 414 |
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3 | BOOST_CHECK(action_data->Hu.isApprox(constraint_data->Hu, 1e-9)); |
| 415 | 3 | } | |
| 416 | |||
| 417 | //----------------------------------------------------------------------------// | ||
| 418 | |||
| 419 | 3 | void register_unit_tests(StateModelTypes::Type state_type) { | |
| 420 |
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3 | boost::test_tools::output_test_stream test_name; |
| 421 | test_name << "test_ConstraintModelManager" | ||
| 422 |
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3 | << "_" << state_type; |
| 423 |
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3 | std::cout << "Running " << test_name.str() << std::endl; |
| 424 |
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3 | test_suite* ts = BOOST_TEST_SUITE(test_name.str()); |
| 425 |
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3 | ts->add(BOOST_TEST_CASE(boost::bind(&test_constructor, state_type))); |
| 426 |
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3 | ts->add(BOOST_TEST_CASE(boost::bind(&test_addConstraint, state_type))); |
| 427 |
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3 | ts->add(BOOST_TEST_CASE( |
| 428 | boost::bind(&test_addConstraint_error_message, state_type))); | ||
| 429 |
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3 | ts->add(BOOST_TEST_CASE(boost::bind(&test_removeConstraint, state_type))); |
| 430 |
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3 | ts->add(BOOST_TEST_CASE( |
| 431 | boost::bind(&test_removeConstraint_error_message, state_type))); | ||
| 432 |
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3 | ts->add(BOOST_TEST_CASE(boost::bind(&test_calc, state_type))); |
| 433 |
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3 | ts->add(BOOST_TEST_CASE(boost::bind(&test_calcDiff, state_type))); |
| 434 |
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3 | ts->add(BOOST_TEST_CASE(boost::bind(&test_get_constraints, state_type))); |
| 435 |
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3 | ts->add(BOOST_TEST_CASE(boost::bind(&test_shareMemory, state_type))); |
| 436 |
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3 | framework::master_test_suite().add(ts); |
| 437 | 3 | } | |
| 438 | |||
| 439 | 1 | bool init_function() { | |
| 440 | 1 | register_unit_tests(StateModelTypes::StateMultibody_TalosArm); | |
| 441 | 1 | register_unit_tests(StateModelTypes::StateMultibody_HyQ); | |
| 442 | 1 | register_unit_tests(StateModelTypes::StateMultibody_Talos); | |
| 443 | 1 | return true; | |
| 444 | } | ||
| 445 | |||
| 446 | 1 | int main(int argc, char** argv) { | |
| 447 | 1 | return ::boost::unit_test::unit_test_main(&init_function, argc, argv); | |
| 448 | } | ||
| 449 |