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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2025, University of Edinburgh, Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#define BOOST_TEST_NO_MAIN |
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#define BOOST_TEST_ALTERNATIVE_INIT_API |
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#include "crocoddyl/core/actions/lqr.hpp" |
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#include "crocoddyl/multibody/data/multibody.hpp" |
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#include "factory/constraint.hpp" |
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#include "unittest_common.hpp" |
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using namespace boost::unit_test; |
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using namespace crocoddyl::unittest; |
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//----------------------------------------------------------------------------// |
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void test_constructor(StateModelTypes::Type state_type) { |
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// Setup the test |
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StateModelFactory state_factory; |
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crocoddyl::ConstraintModelManager model(state_factory.create(state_type)); |
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// Run the print function |
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std::ostringstream tmp; |
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tmp << model; |
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// Test the initial size of the map |
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BOOST_CHECK(model.get_constraints().size() == 0); |
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// Checking that casted computation is the same |
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#ifdef NDEBUG // Run only in release mode |
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crocoddyl::ConstraintModelManagerTpl<float> casted_model = |
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model.cast<float>(); |
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BOOST_CHECK(casted_model.get_constraints().size() == 0); |
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#endif |
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} |
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void test_addConstraint(StateModelTypes::Type state_type) { |
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// Setup the test |
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StateModelFactory state_factory; |
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crocoddyl::ConstraintModelManager model(state_factory.create(state_type)); |
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crocoddyl::ConstraintModelManagerTpl<float> casted_model = |
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model.cast<float>(); |
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// add an active constraint |
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std::shared_ptr<crocoddyl::ConstraintModelAbstract> rand_constraint_1 = |
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create_random_constraint(state_type); |
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model.addConstraint("random_constraint_1", rand_constraint_1); |
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std::size_t ng = rand_constraint_1->get_ng(); |
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std::size_t nh = rand_constraint_1->get_nh(); |
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std::size_t ng_T = rand_constraint_1->get_T_constraint() ? ng : 0; |
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std::size_t nh_T = rand_constraint_1->get_T_constraint() ? nh : 0; |
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BOOST_CHECK(model.get_ng() == ng); |
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BOOST_CHECK(model.get_nh() == nh); |
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BOOST_CHECK(model.get_ng_T() == ng_T); |
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BOOST_CHECK(model.get_nh_T() == nh_T); |
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// add an inactive constraint |
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std::shared_ptr<crocoddyl::ConstraintModelAbstract> rand_constraint_2 = |
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create_random_constraint(state_type); |
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model.addConstraint("random_constraint_2", rand_constraint_2, false); |
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BOOST_CHECK(model.get_ng() == ng); |
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BOOST_CHECK(model.get_nh() == nh); |
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BOOST_CHECK(model.get_ng_T() == ng_T); |
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BOOST_CHECK(model.get_nh_T() == nh_T); |
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// change the random constraint 2 status |
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model.changeConstraintStatus("random_constraint_2", true); |
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ng += rand_constraint_2->get_ng(); |
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nh += rand_constraint_2->get_nh(); |
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if (rand_constraint_2->get_T_constraint()) { |
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ng_T += rand_constraint_2->get_ng(); |
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nh_T += rand_constraint_2->get_nh(); |
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} |
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BOOST_CHECK(model.get_ng() == ng); |
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BOOST_CHECK(model.get_nh() == nh); |
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BOOST_CHECK(model.get_ng_T() == ng_T); |
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BOOST_CHECK(model.get_nh_T() == nh_T); |
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// change the random constraint 1 status |
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model.changeConstraintStatus("random_constraint_1", false); |
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ng -= rand_constraint_1->get_ng(); |
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nh -= rand_constraint_1->get_nh(); |
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if (rand_constraint_1->get_T_constraint()) { |
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ng_T -= rand_constraint_1->get_ng(); |
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nh_T -= rand_constraint_1->get_nh(); |
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} |
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BOOST_CHECK(model.get_ng() == ng); |
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BOOST_CHECK(model.get_nh() == nh); |
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BOOST_CHECK(model.get_ng_T() == ng_T); |
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BOOST_CHECK(model.get_nh_T() == nh_T); |
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// Checking that casted computation is the same |
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#ifdef NDEBUG // Run only in release mode |
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std::shared_ptr<crocoddyl::ConstraintModelAbstractTpl<float>> |
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casted_rand_constraint_1 = rand_constraint_1->cast<float>(); |
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casted_model.addConstraint("random_constraint_1", casted_rand_constraint_1); |
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ng = casted_rand_constraint_1->get_ng(); |
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nh = casted_rand_constraint_1->get_nh(); |
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ng_T = casted_rand_constraint_1->get_T_constraint() ? ng : 0; |
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nh_T = casted_rand_constraint_1->get_T_constraint() ? nh : 0; |
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BOOST_CHECK(casted_model.get_ng() == ng); |
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BOOST_CHECK(casted_model.get_nh() == nh); |
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BOOST_CHECK(casted_model.get_ng_T() == ng_T); |
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BOOST_CHECK(casted_model.get_nh_T() == nh_T); |
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std::shared_ptr<crocoddyl::ConstraintModelAbstractTpl<float>> |
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casted_rand_constraint_2 = rand_constraint_2->cast<float>(); |
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casted_model.addConstraint("random_constraint_2", casted_rand_constraint_2, |
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false); |
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BOOST_CHECK(casted_model.get_ng() == ng); |
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BOOST_CHECK(casted_model.get_nh() == nh); |
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BOOST_CHECK(casted_model.get_ng_T() == ng_T); |
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BOOST_CHECK(casted_model.get_nh_T() == nh_T); |
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casted_model.changeConstraintStatus("random_constraint_2", true); |
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ng += casted_rand_constraint_2->get_ng(); |
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nh += casted_rand_constraint_2->get_nh(); |
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if (casted_rand_constraint_2->get_T_constraint()) { |
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ng_T += casted_rand_constraint_2->get_ng(); |
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nh_T += casted_rand_constraint_2->get_nh(); |
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} |
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BOOST_CHECK(casted_model.get_ng() == ng); |
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BOOST_CHECK(casted_model.get_nh() == nh); |
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BOOST_CHECK(casted_model.get_ng_T() == ng_T); |
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BOOST_CHECK(casted_model.get_nh_T() == nh_T); |
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casted_model.changeConstraintStatus("random_constraint_1", false); |
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ng -= casted_rand_constraint_1->get_ng(); |
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nh -= casted_rand_constraint_1->get_nh(); |
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if (casted_rand_constraint_1->get_T_constraint()) { |
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ng_T -= casted_rand_constraint_1->get_ng(); |
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nh_T -= casted_rand_constraint_1->get_nh(); |
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} |
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BOOST_CHECK(casted_model.get_ng() == ng); |
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BOOST_CHECK(casted_model.get_nh() == nh); |
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BOOST_CHECK(casted_model.get_ng_T() == ng_T); |
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BOOST_CHECK(casted_model.get_nh_T() == nh_T); |
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#endif |
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} |
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void test_addConstraint_error_message(StateModelTypes::Type state_type) { |
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// Setup the test |
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StateModelFactory state_factory; |
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crocoddyl::ConstraintModelManager model(state_factory.create(state_type)); |
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// create an constraint object |
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std::shared_ptr<crocoddyl::ConstraintModelAbstract> rand_constraint = |
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create_random_constraint(state_type); |
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// add twice the same constraint object to the container |
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model.addConstraint("random_constraint", rand_constraint); |
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// test error message when we add a duplicate constraint |
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CaptureIOStream capture_ios; |
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capture_ios.beginCapture(); |
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model.addConstraint("random_constraint", rand_constraint); |
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capture_ios.endCapture(); |
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std::stringstream expected_buffer; |
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expected_buffer << "Warning: we couldn't add the random_constraint " |
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"constraint item, it already existed." |
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<< std::endl; |
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BOOST_CHECK(capture_ios.str() == expected_buffer.str()); |
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// test error message when we change the constraint status of an inexistent |
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// constraint |
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capture_ios.beginCapture(); |
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model.changeConstraintStatus("no_exist_constraint", true); |
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capture_ios.endCapture(); |
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expected_buffer.clear(); |
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expected_buffer << "Warning: we couldn't change the status of the " |
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"no_exist_constraint constraint item, it doesn't exist." |
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<< std::endl; |
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BOOST_CHECK(capture_ios.str() == expected_buffer.str()); |
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} |
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void test_removeConstraint(StateModelTypes::Type state_type) { |
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// Setup the test |
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StateModelFactory state_factory; |
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crocoddyl::ConstraintModelManager model(state_factory.create(state_type)); |
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crocoddyl::ConstraintModelManagerTpl<float> casted_model = |
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model.cast<float>(); |
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// add an active constraint |
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std::shared_ptr<crocoddyl::ConstraintModelAbstract> rand_constraint = |
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create_random_constraint(state_type); |
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model.addConstraint("random_constraint", rand_constraint); |
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std::size_t ng = rand_constraint->get_ng(); |
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std::size_t nh = rand_constraint->get_nh(); |
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std::size_t ng_T = rand_constraint->get_T_constraint() ? ng : 0; |
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std::size_t nh_T = rand_constraint->get_T_constraint() ? nh : 0; |
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BOOST_CHECK(model.get_ng() == ng); |
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BOOST_CHECK(model.get_nh() == nh); |
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BOOST_CHECK(model.get_ng_T() == ng_T); |
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BOOST_CHECK(model.get_nh_T() == nh_T); |
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// remove the constraint |
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model.removeConstraint("random_constraint"); |
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BOOST_CHECK(model.get_ng() == 0); |
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BOOST_CHECK(model.get_nh() == 0); |
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BOOST_CHECK(model.get_ng_T() == 0); |
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BOOST_CHECK(model.get_nh_T() == 0); |
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// Checking that casted computation is the same |
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#ifdef NDEBUG // Run only in release mode |
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std::shared_ptr<crocoddyl::ConstraintModelAbstractTpl<float>> |
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casted_rand_constraint = rand_constraint->cast<float>(); |
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casted_model.addConstraint("random_constraint", casted_rand_constraint); |
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ng = casted_rand_constraint->get_ng(); |
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nh = casted_rand_constraint->get_nh(); |
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ng_T = casted_rand_constraint->get_T_constraint() ? ng : 0; |
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nh_T = casted_rand_constraint->get_T_constraint() ? nh : 0; |
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BOOST_CHECK(casted_model.get_ng() == ng); |
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BOOST_CHECK(casted_model.get_nh() == nh); |
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BOOST_CHECK(casted_model.get_ng_T() == ng_T); |
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BOOST_CHECK(casted_model.get_nh_T() == nh_T); |
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casted_model.removeConstraint("random_constraint"); |
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BOOST_CHECK(casted_model.get_ng() == 0); |
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BOOST_CHECK(casted_model.get_nh() == 0); |
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BOOST_CHECK(casted_model.get_ng_T() == 0); |
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BOOST_CHECK(casted_model.get_nh_T() == 0); |
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#endif |
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} |
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void test_removeConstraint_error_message(StateModelTypes::Type state_type) { |
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// Setup the test |
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StateModelFactory state_factory; |
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crocoddyl::ConstraintModelManager model(state_factory.create(state_type)); |
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// remove a none existing constraint form the container, we expect a cout |
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// message here |
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CaptureIOStream capture_ios; |
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capture_ios.beginCapture(); |
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model.removeConstraint("random_constraint"); |
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capture_ios.endCapture(); |
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// Test that the error message is sent. |
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std::stringstream expected_buffer; |
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expected_buffer << "Warning: we couldn't remove the random_constraint " |
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"constraint item, it doesn't exist." |
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<< std::endl; |
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BOOST_CHECK(capture_ios.str() == expected_buffer.str()); |
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} |
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void test_calc(StateModelTypes::Type state_type) { |
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// setup the test |
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StateModelFactory state_factory; |
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crocoddyl::ConstraintModelManager model(state_factory.create(state_type)); |
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// create the corresponding data object |
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const std::shared_ptr<crocoddyl::StateMultibody>& state = |
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std::static_pointer_cast<crocoddyl::StateMultibody>(model.get_state()); |
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pinocchio::Model& pinocchio_model = *state->get_pinocchio().get(); |
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pinocchio::Data pinocchio_data(pinocchio_model); |
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crocoddyl::DataCollectorMultibody shared_data(&pinocchio_data); |
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// create and add some constraint objects |
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std::vector<std::shared_ptr<crocoddyl::ConstraintModelAbstract>> models; |
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std::vector<std::shared_ptr<crocoddyl::ConstraintDataAbstract>> datas; |
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for (std::size_t i = 0; i < 5; ++i) { |
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std::ostringstream os; |
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os << "random_constraint_" << i; |
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const std::shared_ptr<crocoddyl::ConstraintModelAbstract>& m = |
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create_random_constraint(state_type); |
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model.addConstraint(os.str(), m, 1.); |
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models.push_back(m); |
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datas.push_back(m->createData(&shared_data)); |
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} |
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// create the data of the constraint sum |
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const std::shared_ptr<crocoddyl::ConstraintDataManager>& data = |
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model.createData(&shared_data); |
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// compute the constraint sum data for the case when all constraints are |
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// defined as active |
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const Eigen::VectorXd& x1 = state->rand(); |
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const Eigen::VectorXd& u1 = Eigen::VectorXd::Random(model.get_nu()); |
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crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, |
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x1); |
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model.calc(data, x1, u1); |
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// check the constraint against single constraint computations |
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std::size_t ng_i = 0; |
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std::size_t nh_i = 0; |
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Eigen::VectorXd g = Eigen::VectorXd::Zero(model.get_ng()); |
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Eigen::VectorXd h = Eigen::VectorXd::Zero(model.get_nh()); |
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for (std::size_t i = 0; i < 5; ++i) { |
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models[i]->calc(datas[i], x1, u1); |
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const std::size_t ng = models[i]->get_ng(); |
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const std::size_t nh = models[i]->get_nh(); |
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g.segment(ng_i, ng) = datas[i]->g; |
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h.segment(nh_i, nh) = datas[i]->h; |
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ng_i += ng; |
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nh_i += nh; |
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} |
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BOOST_CHECK(data->g.isApprox(g, 1e-9)); |
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BOOST_CHECK(data->h.isApprox(h, 1e-9)); |
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// Checking that casted computation is the same |
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#ifdef NDEBUG // Run only in release mode |
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crocoddyl::ConstraintModelManagerTpl<float> casted_model = |
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model.cast<float>(); |
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const std::shared_ptr<crocoddyl::StateMultibodyTpl<float>>& casted_state = |
| 304 |
|
|
std::static_pointer_cast<crocoddyl::StateMultibodyTpl<float>>( |
| 305 |
|
|
casted_model.get_state()); |
| 306 |
|
|
pinocchio::ModelTpl<float>& casted_pinocchio_model = |
| 307 |
|
|
*casted_state->get_pinocchio().get(); |
| 308 |
|
|
pinocchio::DataTpl<float> casted_pinocchio_data(casted_pinocchio_model); |
| 309 |
|
|
crocoddyl::DataCollectorMultibodyTpl<float> casted_shared_data( |
| 310 |
|
|
&casted_pinocchio_data); |
| 311 |
|
|
std::vector<std::shared_ptr<crocoddyl::ConstraintModelAbstractTpl<float>>> |
| 312 |
|
|
casted_models; |
| 313 |
|
|
std::vector<std::shared_ptr<crocoddyl::ConstraintDataAbstractTpl<float>>> |
| 314 |
|
|
casted_datas; |
| 315 |
|
|
for (std::size_t i = 0; i < 5; ++i) { |
| 316 |
|
|
casted_models.push_back(models[i]->cast<float>()); |
| 317 |
|
|
casted_datas.push_back(casted_models[i]->createData(&casted_shared_data)); |
| 318 |
|
|
} |
| 319 |
|
|
const std::shared_ptr<crocoddyl::ConstraintDataManagerTpl<float>>& |
| 320 |
|
|
casted_data = casted_model.createData(&casted_shared_data); |
| 321 |
|
|
const Eigen::VectorXf& x1_f = x1.cast<float>(); |
| 322 |
|
|
const Eigen::VectorXf& u1_f = u1.cast<float>(); |
| 323 |
|
|
crocoddyl::unittest::updateAllPinocchio(&casted_pinocchio_model, |
| 324 |
|
|
&casted_pinocchio_data, x1_f); |
| 325 |
|
|
casted_model.calc(casted_data, x1_f, u1_f); |
| 326 |
|
|
ng_i = 0; |
| 327 |
|
|
nh_i = 0; |
| 328 |
|
|
Eigen::VectorXf g_f = Eigen::VectorXf::Zero(casted_model.get_ng()); |
| 329 |
|
|
Eigen::VectorXf h_f = Eigen::VectorXf::Zero(casted_model.get_nh()); |
| 330 |
|
|
for (std::size_t i = 0; i < 5; ++i) { |
| 331 |
|
|
casted_models[i]->calc(casted_datas[i], x1_f, u1_f); |
| 332 |
|
|
const std::size_t ng = casted_models[i]->get_ng(); |
| 333 |
|
|
const std::size_t nh = casted_models[i]->get_nh(); |
| 334 |
|
|
g_f.segment(ng_i, ng) = casted_datas[i]->g; |
| 335 |
|
|
h_f.segment(nh_i, nh) = casted_datas[i]->h; |
| 336 |
|
|
ng_i += ng; |
| 337 |
|
|
nh_i += nh; |
| 338 |
|
|
} |
| 339 |
|
|
BOOST_CHECK(casted_data->g.isApprox(g_f, 1e-9f)); |
| 340 |
|
|
BOOST_CHECK(casted_data->h.isApprox(h_f, 1e-9f)); |
| 341 |
|
|
#endif |
| 342 |
|
|
} |
| 343 |
|
|
|
| 344 |
|
✗ |
void test_calcDiff(StateModelTypes::Type state_type) { |
| 345 |
|
|
// setup the test |
| 346 |
|
✗ |
StateModelFactory state_factory; |
| 347 |
|
✗ |
crocoddyl::ConstraintModelManager model(state_factory.create(state_type)); |
| 348 |
|
|
// create the corresponding data object |
| 349 |
|
|
const std::shared_ptr<crocoddyl::StateMultibody>& state = |
| 350 |
|
✗ |
std::static_pointer_cast<crocoddyl::StateMultibody>(model.get_state()); |
| 351 |
|
✗ |
pinocchio::Model& pinocchio_model = *state->get_pinocchio().get(); |
| 352 |
|
✗ |
pinocchio::Data pinocchio_data(pinocchio_model); |
| 353 |
|
✗ |
crocoddyl::DataCollectorMultibody shared_data(&pinocchio_data); |
| 354 |
|
|
|
| 355 |
|
|
// create and add some constraint objects |
| 356 |
|
✗ |
std::vector<std::shared_ptr<crocoddyl::ConstraintModelAbstract>> models; |
| 357 |
|
✗ |
std::vector<std::shared_ptr<crocoddyl::ConstraintDataAbstract>> datas; |
| 358 |
|
✗ |
for (std::size_t i = 0; i < 5; ++i) { |
| 359 |
|
✗ |
std::ostringstream os; |
| 360 |
|
✗ |
os << "random_constraint_" << i; |
| 361 |
|
|
const std::shared_ptr<crocoddyl::ConstraintModelAbstract>& m = |
| 362 |
|
✗ |
create_random_constraint(state_type); |
| 363 |
|
✗ |
model.addConstraint(os.str(), m, 1.); |
| 364 |
|
✗ |
models.push_back(m); |
| 365 |
|
✗ |
datas.push_back(m->createData(&shared_data)); |
| 366 |
|
|
} |
| 367 |
|
|
|
| 368 |
|
|
// create the data of the constraint sum |
| 369 |
|
|
const std::shared_ptr<crocoddyl::ConstraintDataManager>& data = |
| 370 |
|
✗ |
model.createData(&shared_data); |
| 371 |
|
|
|
| 372 |
|
|
// compute the constraint sum data for the case when all constraints are |
| 373 |
|
|
// defined as active |
| 374 |
|
✗ |
Eigen::VectorXd x1 = state->rand(); |
| 375 |
|
✗ |
const Eigen::VectorXd u1 = Eigen::VectorXd::Random(model.get_nu()); |
| 376 |
|
✗ |
crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, |
| 377 |
|
|
x1); |
| 378 |
|
✗ |
model.calc(data, x1, u1); |
| 379 |
|
✗ |
model.calcDiff(data, x1, u1); |
| 380 |
|
|
|
| 381 |
|
|
// check the constraint against single constraint computations |
| 382 |
|
✗ |
std::size_t ng_i = 0; |
| 383 |
|
✗ |
std::size_t nh_i = 0; |
| 384 |
|
✗ |
const std::size_t ndx = state->get_ndx(); |
| 385 |
|
✗ |
const std::size_t nu = model.get_nu(); |
| 386 |
|
✗ |
Eigen::VectorXd g = Eigen::VectorXd::Zero(model.get_ng()); |
| 387 |
|
✗ |
Eigen::VectorXd h = Eigen::VectorXd::Zero(model.get_nh()); |
| 388 |
|
✗ |
Eigen::MatrixXd Gx = Eigen::MatrixXd::Zero(model.get_ng(), ndx); |
| 389 |
|
✗ |
Eigen::MatrixXd Gu = Eigen::MatrixXd::Zero(model.get_ng(), nu); |
| 390 |
|
✗ |
Eigen::MatrixXd Hx = Eigen::MatrixXd::Zero(model.get_nh(), ndx); |
| 391 |
|
✗ |
Eigen::MatrixXd Hu = Eigen::MatrixXd::Zero(model.get_nh(), nu); |
| 392 |
|
✗ |
for (std::size_t i = 0; i < 5; ++i) { |
| 393 |
|
✗ |
models[i]->calc(datas[i], x1, u1); |
| 394 |
|
✗ |
models[i]->calcDiff(datas[i], x1, u1); |
| 395 |
|
✗ |
const std::size_t ng = models[i]->get_ng(); |
| 396 |
|
✗ |
const std::size_t nh = models[i]->get_nh(); |
| 397 |
|
✗ |
g.segment(ng_i, ng) = datas[i]->g; |
| 398 |
|
✗ |
h.segment(nh_i, nh) = datas[i]->h; |
| 399 |
|
✗ |
Gx.block(ng_i, 0, ng, ndx) = datas[i]->Gx; |
| 400 |
|
✗ |
Gu.block(ng_i, 0, ng, nu) = datas[i]->Gu; |
| 401 |
|
✗ |
Hx.block(nh_i, 0, nh, ndx) = datas[i]->Hx; |
| 402 |
|
✗ |
Hu.block(nh_i, 0, nh, nu) = datas[i]->Hu; |
| 403 |
|
✗ |
ng_i += ng; |
| 404 |
|
✗ |
nh_i += nh; |
| 405 |
|
|
} |
| 406 |
|
✗ |
BOOST_CHECK(data->g.isApprox(g, 1e-9)); |
| 407 |
|
✗ |
BOOST_CHECK(data->h.isApprox(h, 1e-9)); |
| 408 |
|
✗ |
BOOST_CHECK(data->Gx.isApprox(Gx, 1e-9)); |
| 409 |
|
✗ |
BOOST_CHECK(data->Gu.isApprox(Gu, 1e-9)); |
| 410 |
|
✗ |
BOOST_CHECK(data->Hx.isApprox(Hx, 1e-9)); |
| 411 |
|
✗ |
BOOST_CHECK(data->Hu.isApprox(Hu, 1e-9)); |
| 412 |
|
|
|
| 413 |
|
✗ |
x1 = state->rand(); |
| 414 |
|
✗ |
crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, |
| 415 |
|
|
x1); |
| 416 |
|
✗ |
data->resize(&model, false); |
| 417 |
|
✗ |
model.calc(data, x1); |
| 418 |
|
✗ |
model.calcDiff(data, x1); |
| 419 |
|
|
|
| 420 |
|
✗ |
const std::size_t ng_T = model.get_ng_T(); |
| 421 |
|
✗ |
const std::size_t nh_T = model.get_nh_T(); |
| 422 |
|
✗ |
ng_i = 0; |
| 423 |
|
✗ |
nh_i = 0; |
| 424 |
|
✗ |
g.conservativeResize(ng_T); |
| 425 |
|
✗ |
h.conservativeResize(nh_T); |
| 426 |
|
✗ |
Gx.conservativeResize(ng_T, ndx); |
| 427 |
|
✗ |
Gu.conservativeResize(ng_T, nu); |
| 428 |
|
✗ |
Hx.conservativeResize(nh_T, ndx); |
| 429 |
|
✗ |
Hu.conservativeResize(nh_T, nu); |
| 430 |
|
✗ |
for (std::size_t i = 0; i < 5; ++i) { |
| 431 |
|
✗ |
if (models[i]->get_T_constraint()) { |
| 432 |
|
✗ |
models[i]->calc(datas[i], x1); |
| 433 |
|
✗ |
models[i]->calcDiff(datas[i], x1); |
| 434 |
|
✗ |
const std::size_t ng = models[i]->get_ng(); |
| 435 |
|
✗ |
const std::size_t nh = models[i]->get_nh(); |
| 436 |
|
✗ |
g.segment(ng_i, ng) = datas[i]->g; |
| 437 |
|
✗ |
h.segment(nh_i, nh) = datas[i]->h; |
| 438 |
|
✗ |
Gx.block(ng_i, 0, ng, ndx) = datas[i]->Gx; |
| 439 |
|
✗ |
Gu.block(ng_i, 0, ng, nu) = datas[i]->Gu; |
| 440 |
|
✗ |
Hx.block(nh_i, 0, nh, ndx) = datas[i]->Hx; |
| 441 |
|
✗ |
Hu.block(nh_i, 0, nh, nu) = datas[i]->Hu; |
| 442 |
|
✗ |
ng_i += ng; |
| 443 |
|
✗ |
nh_i += nh; |
| 444 |
|
|
} |
| 445 |
|
|
} |
| 446 |
|
✗ |
BOOST_CHECK(data->g.isApprox(g, 1e-9)); |
| 447 |
|
✗ |
BOOST_CHECK(data->h.isApprox(h, 1e-9)); |
| 448 |
|
✗ |
BOOST_CHECK(data->Gx.isApprox(Gx, 1e-9)); |
| 449 |
|
✗ |
BOOST_CHECK(data->Hx.isApprox(Hx, 1e-9)); |
| 450 |
|
|
|
| 451 |
|
|
// Checking that casted computation is the same |
| 452 |
|
|
#ifdef NDEBUG // Run only in release mode |
| 453 |
|
|
crocoddyl::ConstraintModelManagerTpl<float> casted_model = |
| 454 |
|
|
model.cast<float>(); |
| 455 |
|
|
const std::shared_ptr<crocoddyl::StateMultibodyTpl<float>>& casted_state = |
| 456 |
|
|
std::static_pointer_cast<crocoddyl::StateMultibodyTpl<float>>( |
| 457 |
|
|
casted_model.get_state()); |
| 458 |
|
|
pinocchio::ModelTpl<float>& casted_pinocchio_model = |
| 459 |
|
|
*casted_state->get_pinocchio().get(); |
| 460 |
|
|
pinocchio::DataTpl<float> casted_pinocchio_data(casted_pinocchio_model); |
| 461 |
|
|
crocoddyl::DataCollectorMultibodyTpl<float> casted_shared_data( |
| 462 |
|
|
&casted_pinocchio_data); |
| 463 |
|
|
std::vector<std::shared_ptr<crocoddyl::ConstraintModelAbstractTpl<float>>> |
| 464 |
|
|
casted_models; |
| 465 |
|
|
std::vector<std::shared_ptr<crocoddyl::ConstraintDataAbstractTpl<float>>> |
| 466 |
|
|
casted_datas; |
| 467 |
|
|
for (std::size_t i = 0; i < 5; ++i) { |
| 468 |
|
|
casted_models.push_back(models[i]->cast<float>()); |
| 469 |
|
|
casted_datas.push_back(casted_models[i]->createData(&casted_shared_data)); |
| 470 |
|
|
} |
| 471 |
|
|
const std::shared_ptr<crocoddyl::ConstraintDataManagerTpl<float>>& |
| 472 |
|
|
casted_data = casted_model.createData(&casted_shared_data); |
| 473 |
|
|
const Eigen::VectorXf& x1_f = x1.cast<float>(); |
| 474 |
|
|
const Eigen::VectorXf& u1_f = u1.cast<float>(); |
| 475 |
|
|
crocoddyl::unittest::updateAllPinocchio(&casted_pinocchio_model, |
| 476 |
|
|
&casted_pinocchio_data, x1_f); |
| 477 |
|
|
|
| 478 |
|
|
casted_model.calc(casted_data, x1_f, u1_f); |
| 479 |
|
|
casted_model.calcDiff(casted_data, x1_f, u1_f); |
| 480 |
|
|
|
| 481 |
|
|
ng_i = 0; |
| 482 |
|
|
nh_i = 0; |
| 483 |
|
|
Eigen::VectorXf g_f = Eigen::VectorXf::Zero(casted_model.get_ng()); |
| 484 |
|
|
Eigen::VectorXf h_f = Eigen::VectorXf::Zero(casted_model.get_nh()); |
| 485 |
|
|
Eigen::MatrixXf Gx_f = Eigen::MatrixXf::Zero(casted_model.get_ng(), ndx); |
| 486 |
|
|
Eigen::MatrixXf Gu_f = Eigen::MatrixXf::Zero(casted_model.get_ng(), nu); |
| 487 |
|
|
Eigen::MatrixXf Hx_f = Eigen::MatrixXf::Zero(casted_model.get_nh(), ndx); |
| 488 |
|
|
Eigen::MatrixXf Hu_f = Eigen::MatrixXf::Zero(casted_model.get_nh(), nu); |
| 489 |
|
|
for (std::size_t i = 0; i < 5; ++i) { |
| 490 |
|
|
casted_models[i]->calc(casted_datas[i], x1_f, u1_f); |
| 491 |
|
|
casted_models[i]->calcDiff(casted_datas[i], x1_f, u1_f); |
| 492 |
|
|
const std::size_t ng = casted_models[i]->get_ng(); |
| 493 |
|
|
const std::size_t nh = casted_models[i]->get_nh(); |
| 494 |
|
|
g_f.segment(ng_i, ng) = casted_datas[i]->g; |
| 495 |
|
|
h_f.segment(nh_i, nh) = casted_datas[i]->h; |
| 496 |
|
|
Gx_f.block(ng_i, 0, ng, ndx) = casted_datas[i]->Gx; |
| 497 |
|
|
Gu_f.block(ng_i, 0, ng, nu) = casted_datas[i]->Gu; |
| 498 |
|
|
Hx_f.block(nh_i, 0, nh, ndx) = casted_datas[i]->Hx; |
| 499 |
|
|
Hu_f.block(nh_i, 0, nh, nu) = casted_datas[i]->Hu; |
| 500 |
|
|
ng_i += ng; |
| 501 |
|
|
nh_i += nh; |
| 502 |
|
|
} |
| 503 |
|
|
BOOST_CHECK(casted_data->g.isApprox(g_f, 1e-9f)); |
| 504 |
|
|
BOOST_CHECK(casted_data->h.isApprox(h_f, 1e-9f)); |
| 505 |
|
|
BOOST_CHECK(casted_data->Gx.isApprox(Gx_f, 1e-9f)); |
| 506 |
|
|
BOOST_CHECK(casted_data->Gu.isApprox(Gu_f, 1e-9f)); |
| 507 |
|
|
BOOST_CHECK(casted_data->Hx.isApprox(Hx_f, 1e-9f)); |
| 508 |
|
|
BOOST_CHECK(casted_data->Hu.isApprox(Hu_f, 1e-9f)); |
| 509 |
|
|
#endif |
| 510 |
|
|
} |
| 511 |
|
|
|
| 512 |
|
✗ |
void test_get_constraints(StateModelTypes::Type state_type) { |
| 513 |
|
|
// setup the test |
| 514 |
|
✗ |
StateModelFactory state_factory; |
| 515 |
|
✗ |
crocoddyl::ConstraintModelManager model(state_factory.create(state_type)); |
| 516 |
|
|
// create the corresponding data object |
| 517 |
|
|
const std::shared_ptr<crocoddyl::StateMultibody>& state = |
| 518 |
|
✗ |
std::static_pointer_cast<crocoddyl::StateMultibody>(model.get_state()); |
| 519 |
|
✗ |
pinocchio::Data pinocchio_data(*state->get_pinocchio().get()); |
| 520 |
|
|
|
| 521 |
|
|
// create and add some contact objects |
| 522 |
|
✗ |
for (unsigned i = 0; i < 5; ++i) { |
| 523 |
|
✗ |
std::ostringstream os; |
| 524 |
|
✗ |
os << "random_constraint_" << i; |
| 525 |
|
✗ |
model.addConstraint(os.str(), create_random_constraint(state_type), 1.); |
| 526 |
|
|
} |
| 527 |
|
|
|
| 528 |
|
|
// get the contacts |
| 529 |
|
|
const crocoddyl::ConstraintModelManager::ConstraintModelContainer& |
| 530 |
|
✗ |
constraints = model.get_constraints(); |
| 531 |
|
|
|
| 532 |
|
|
// test |
| 533 |
|
|
crocoddyl::ConstraintModelManager::ConstraintModelContainer::const_iterator |
| 534 |
|
✗ |
it_m, |
| 535 |
|
✗ |
end_m; |
| 536 |
|
|
unsigned i; |
| 537 |
|
✗ |
for (i = 0, it_m = constraints.begin(), end_m = constraints.end(); |
| 538 |
|
✗ |
it_m != end_m; ++it_m, ++i) { |
| 539 |
|
✗ |
std::ostringstream os; |
| 540 |
|
✗ |
os << "random_constraint_" << i; |
| 541 |
|
✗ |
BOOST_CHECK(it_m->first == os.str()); |
| 542 |
|
|
} |
| 543 |
|
|
} |
| 544 |
|
|
|
| 545 |
|
✗ |
void test_shareMemory(StateModelTypes::Type state_type) { |
| 546 |
|
|
// setup the test |
| 547 |
|
✗ |
StateModelFactory state_factory; |
| 548 |
|
|
const std::shared_ptr<crocoddyl::StateAbstract> state = |
| 549 |
|
✗ |
state_factory.create(state_type); |
| 550 |
|
✗ |
crocoddyl::ConstraintModelManager constraint_model(state); |
| 551 |
|
✗ |
crocoddyl::DataCollectorAbstract shared_data; |
| 552 |
|
|
const std::shared_ptr<crocoddyl::ConstraintDataManager>& constraint_data = |
| 553 |
|
✗ |
constraint_model.createData(&shared_data); |
| 554 |
|
|
|
| 555 |
|
✗ |
std::size_t ng = state->get_ndx(); |
| 556 |
|
✗ |
std::size_t nh = state->get_ndx(); |
| 557 |
|
✗ |
const std::size_t ndx = state->get_ndx(); |
| 558 |
|
✗ |
const std::size_t nu = constraint_model.get_nu(); |
| 559 |
|
✗ |
crocoddyl::ActionModelLQR action_model(ndx, nu); |
| 560 |
|
|
const std::shared_ptr<crocoddyl::ActionDataAbstract>& action_data = |
| 561 |
|
✗ |
action_model.createData(); |
| 562 |
|
|
|
| 563 |
|
✗ |
action_data->h.resize(nh); |
| 564 |
|
✗ |
action_data->g.resize(ng); |
| 565 |
|
✗ |
action_data->Gx.resize(ng, ndx); |
| 566 |
|
✗ |
action_data->Gu.resize(ng, nu); |
| 567 |
|
✗ |
action_data->Hx.resize(nh, ndx); |
| 568 |
|
✗ |
action_data->Hu.resize(nh, nu); |
| 569 |
|
✗ |
constraint_data->shareMemory(action_data.get()); |
| 570 |
|
✗ |
constraint_data->h = Eigen::VectorXd::Random(nh); |
| 571 |
|
✗ |
constraint_data->g = Eigen::VectorXd::Random(ng); |
| 572 |
|
✗ |
constraint_data->Gx = Eigen::MatrixXd::Random(ng, ndx); |
| 573 |
|
✗ |
constraint_data->Gu = Eigen::MatrixXd::Random(ng, nu); |
| 574 |
|
✗ |
constraint_data->Hx = Eigen::MatrixXd::Random(nh, ndx); |
| 575 |
|
✗ |
constraint_data->Hu = Eigen::MatrixXd::Random(nh, nu); |
| 576 |
|
|
|
| 577 |
|
|
// check that the data has been shared |
| 578 |
|
✗ |
BOOST_CHECK(action_data->g.isApprox(constraint_data->g, 1e-9)); |
| 579 |
|
✗ |
BOOST_CHECK(action_data->h.isApprox(constraint_data->h, 1e-9)); |
| 580 |
|
✗ |
BOOST_CHECK(action_data->Gx.isApprox(constraint_data->Gx, 1e-9)); |
| 581 |
|
✗ |
BOOST_CHECK(action_data->Gu.isApprox(constraint_data->Gu, 1e-9)); |
| 582 |
|
✗ |
BOOST_CHECK(action_data->Hx.isApprox(constraint_data->Hx, 1e-9)); |
| 583 |
|
✗ |
BOOST_CHECK(action_data->Hu.isApprox(constraint_data->Hu, 1e-9)); |
| 584 |
|
|
|
| 585 |
|
|
// let's now resize the data |
| 586 |
|
✗ |
constraint_data->resize(&action_model, action_data.get()); |
| 587 |
|
|
|
| 588 |
|
|
// check that the shared data has been resized |
| 589 |
|
✗ |
BOOST_CHECK(action_data->g.isApprox(constraint_data->g, 1e-9)); |
| 590 |
|
✗ |
BOOST_CHECK(action_data->h.isApprox(constraint_data->h, 1e-9)); |
| 591 |
|
✗ |
BOOST_CHECK(action_data->Gx.isApprox(constraint_data->Gx, 1e-9)); |
| 592 |
|
✗ |
BOOST_CHECK(action_data->Gu.isApprox(constraint_data->Gu, 1e-9)); |
| 593 |
|
✗ |
BOOST_CHECK(action_data->Hx.isApprox(constraint_data->Hx, 1e-9)); |
| 594 |
|
✗ |
BOOST_CHECK(action_data->Hu.isApprox(constraint_data->Hu, 1e-9)); |
| 595 |
|
|
} |
| 596 |
|
|
|
| 597 |
|
|
//----------------------------------------------------------------------------// |
| 598 |
|
|
|
| 599 |
|
✗ |
void register_unit_tests(StateModelTypes::Type state_type) { |
| 600 |
|
✗ |
boost::test_tools::output_test_stream test_name; |
| 601 |
|
|
test_name << "test_ConstraintModelManager" |
| 602 |
|
✗ |
<< "_" << state_type; |
| 603 |
|
✗ |
std::cout << "Running " << test_name.str() << std::endl; |
| 604 |
|
✗ |
test_suite* ts = BOOST_TEST_SUITE(test_name.str()); |
| 605 |
|
✗ |
ts->add(BOOST_TEST_CASE(boost::bind(&test_constructor, state_type))); |
| 606 |
|
✗ |
ts->add(BOOST_TEST_CASE(boost::bind(&test_addConstraint, state_type))); |
| 607 |
|
✗ |
ts->add(BOOST_TEST_CASE( |
| 608 |
|
|
boost::bind(&test_addConstraint_error_message, state_type))); |
| 609 |
|
✗ |
ts->add(BOOST_TEST_CASE(boost::bind(&test_removeConstraint, state_type))); |
| 610 |
|
✗ |
ts->add(BOOST_TEST_CASE( |
| 611 |
|
|
boost::bind(&test_removeConstraint_error_message, state_type))); |
| 612 |
|
✗ |
ts->add(BOOST_TEST_CASE(boost::bind(&test_calc, state_type))); |
| 613 |
|
✗ |
ts->add(BOOST_TEST_CASE(boost::bind(&test_calcDiff, state_type))); |
| 614 |
|
✗ |
ts->add(BOOST_TEST_CASE(boost::bind(&test_get_constraints, state_type))); |
| 615 |
|
✗ |
ts->add(BOOST_TEST_CASE(boost::bind(&test_shareMemory, state_type))); |
| 616 |
|
✗ |
framework::master_test_suite().add(ts); |
| 617 |
|
|
} |
| 618 |
|
|
|
| 619 |
|
✗ |
bool init_function() { |
| 620 |
|
✗ |
register_unit_tests(StateModelTypes::StateMultibody_TalosArm); |
| 621 |
|
✗ |
register_unit_tests(StateModelTypes::StateMultibody_HyQ); |
| 622 |
|
✗ |
register_unit_tests(StateModelTypes::StateMultibody_Talos); |
| 623 |
|
✗ |
return true; |
| 624 |
|
|
} |
| 625 |
|
|
|
| 626 |
|
✗ |
int main(int argc, char** argv) { |
| 627 |
|
✗ |
return ::boost::unit_test::unit_test_main(&init_function, argc, argv); |
| 628 |
|
|
} |
| 629 |
|
|
|