| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 2 |
|
|
// BSD 3-Clause License |
| 3 |
|
|
// |
| 4 |
|
|
// Copyright (C) 2021-2025, 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 "factory/contact_cost.hpp" |
| 13 |
|
|
#include "unittest_common.hpp" |
| 14 |
|
|
|
| 15 |
|
|
using namespace boost::unit_test; |
| 16 |
|
|
using namespace crocoddyl::unittest; |
| 17 |
|
|
|
| 18 |
|
|
//----------------------------------------------------------------------------// |
| 19 |
|
|
|
| 20 |
|
✗ |
void test_partial_derivatives_against_contact_numdiff( |
| 21 |
|
|
ContactCostModelTypes::Type cost_type, PinocchioModelTypes::Type model_type, |
| 22 |
|
|
ActivationModelTypes::Type activation_type, |
| 23 |
|
|
ActuationModelTypes::Type actuation_type) { |
| 24 |
|
|
// create the model |
| 25 |
|
|
const std::shared_ptr<crocoddyl::DifferentialActionModelAbstract>& model = |
| 26 |
|
✗ |
ContactCostModelFactory().create(cost_type, model_type, activation_type, |
| 27 |
|
✗ |
actuation_type); |
| 28 |
|
|
|
| 29 |
|
|
// create the corresponding data object and set the cost to nan |
| 30 |
|
|
const std::shared_ptr<crocoddyl::DifferentialActionDataAbstract>& data = |
| 31 |
|
✗ |
model->createData(); |
| 32 |
|
|
|
| 33 |
|
✗ |
crocoddyl::DifferentialActionModelNumDiff model_num_diff(model); |
| 34 |
|
|
const std::shared_ptr<crocoddyl::DifferentialActionDataAbstract>& |
| 35 |
|
✗ |
data_num_diff = model_num_diff.createData(); |
| 36 |
|
|
|
| 37 |
|
|
// Generating random values for the state and control |
| 38 |
|
✗ |
Eigen::VectorXd x = model->get_state()->rand(); |
| 39 |
|
✗ |
const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu()); |
| 40 |
|
|
|
| 41 |
|
|
// Computing the action derivatives |
| 42 |
|
✗ |
model->calc(data, x, u); |
| 43 |
|
✗ |
model->calcDiff(data, x, u); |
| 44 |
|
✗ |
model_num_diff.calc(data_num_diff, x, u); |
| 45 |
|
✗ |
model_num_diff.calcDiff(data_num_diff, x, u); |
| 46 |
|
|
// Tolerance defined as in |
| 47 |
|
|
// http://www.it.uom.gr/teaching/linearalgebra/NumericalRecipiesInC/c5-7.pdf |
| 48 |
|
✗ |
double tol = std::pow(model_num_diff.get_disturbance(), 1. / 3.); |
| 49 |
|
✗ |
BOOST_CHECK((data->Lx - data_num_diff->Lx).isZero(tol)); |
| 50 |
|
✗ |
BOOST_CHECK((data->Lu - data_num_diff->Lu).isZero(tol)); |
| 51 |
|
✗ |
if (model_num_diff.get_with_gauss_approx()) { |
| 52 |
|
✗ |
BOOST_CHECK((data->Lxx - data_num_diff->Lxx).isZero(tol)); |
| 53 |
|
✗ |
BOOST_CHECK((data->Lxu - data_num_diff->Lxu).isZero(tol)); |
| 54 |
|
✗ |
BOOST_CHECK((data->Luu - data_num_diff->Luu).isZero(tol)); |
| 55 |
|
|
} |
| 56 |
|
|
|
| 57 |
|
|
// Computing the action derivatives |
| 58 |
|
✗ |
x = model->get_state()->rand(); |
| 59 |
|
✗ |
model->calc(data, x); |
| 60 |
|
✗ |
model->calcDiff(data, x); |
| 61 |
|
✗ |
model_num_diff.calc(data_num_diff, x); |
| 62 |
|
✗ |
model_num_diff.calcDiff(data_num_diff, x); |
| 63 |
|
✗ |
BOOST_CHECK((data->Lx - data_num_diff->Lx).isZero(tol)); |
| 64 |
|
✗ |
if (model_num_diff.get_with_gauss_approx()) { |
| 65 |
|
✗ |
BOOST_CHECK((data->Lxx - data_num_diff->Lxx).isZero(tol)); |
| 66 |
|
|
} |
| 67 |
|
|
|
| 68 |
|
|
// Checking that casted computation is the same |
| 69 |
|
|
#ifdef NDEBUG // Run only in release mode |
| 70 |
|
|
const std::shared_ptr<crocoddyl::DifferentialActionModelAbstractTpl<float>>& |
| 71 |
|
|
casted_model = model->cast<float>(); |
| 72 |
|
|
const std::shared_ptr<crocoddyl::DifferentialActionDataAbstractTpl<float>>& |
| 73 |
|
|
casted_data = casted_model->createData(); |
| 74 |
|
|
Eigen::VectorXf x_f = x.cast<float>(); |
| 75 |
|
|
const Eigen::VectorXf u_f = u.cast<float>(); |
| 76 |
|
|
model->calc(data, x, u); |
| 77 |
|
|
model->calcDiff(data, x, u); |
| 78 |
|
|
casted_model->calc(casted_data, x_f, u_f); |
| 79 |
|
|
casted_model->calcDiff(casted_data, x_f, u_f); |
| 80 |
|
|
float tol_f = 10.f * std::sqrt(2.0f * std::numeric_limits<float>::epsilon()); |
| 81 |
|
|
BOOST_CHECK((data->Lx.cast<float>() - casted_data->Lx).isZero(tol_f)); |
| 82 |
|
|
BOOST_CHECK((data->Lu.cast<float>() - casted_data->Lu).isZero(tol_f)); |
| 83 |
|
|
BOOST_CHECK((data->Lxx.cast<float>() - casted_data->Lxx).isZero(tol_f)); |
| 84 |
|
|
BOOST_CHECK((data->Lxu.cast<float>() - casted_data->Lxu).isZero(tol_f)); |
| 85 |
|
|
BOOST_CHECK((data->Luu.cast<float>() - casted_data->Luu).isZero(tol_f)); |
| 86 |
|
|
model->calc(data, x); |
| 87 |
|
|
model->calcDiff(data, x); |
| 88 |
|
|
casted_model->calc(casted_data, x_f); |
| 89 |
|
|
casted_model->calcDiff(casted_data, x_f); |
| 90 |
|
|
BOOST_CHECK((data->Lx.cast<float>() - casted_data->Lx).isZero(tol_f)); |
| 91 |
|
|
BOOST_CHECK((data->Lxx.cast<float>() - casted_data->Lxx).isZero(tol_f)); |
| 92 |
|
|
#endif |
| 93 |
|
|
} |
| 94 |
|
|
|
| 95 |
|
|
//----------------------------------------------------------------------------// |
| 96 |
|
|
|
| 97 |
|
✗ |
void register_contact_cost_model_unit_tests( |
| 98 |
|
|
ContactCostModelTypes::Type cost_type, PinocchioModelTypes::Type model_type, |
| 99 |
|
|
ActivationModelTypes::Type activation_type, |
| 100 |
|
|
ActuationModelTypes::Type actuation_type) { |
| 101 |
|
✗ |
boost::test_tools::output_test_stream test_name; |
| 102 |
|
✗ |
test_name << "test_" << cost_type << "_" << activation_type << "_" |
| 103 |
|
✗ |
<< actuation_type << "_" << model_type; |
| 104 |
|
✗ |
std::cout << "Running " << test_name.str() << std::endl; |
| 105 |
|
✗ |
test_suite* ts = BOOST_TEST_SUITE(test_name.str()); |
| 106 |
|
✗ |
ts->add(BOOST_TEST_CASE( |
| 107 |
|
|
boost::bind(&test_partial_derivatives_against_contact_numdiff, cost_type, |
| 108 |
|
|
model_type, activation_type, actuation_type))); |
| 109 |
|
✗ |
framework::master_test_suite().add(ts); |
| 110 |
|
|
} |
| 111 |
|
|
|
| 112 |
|
✗ |
bool init_function() { |
| 113 |
|
|
// Test all the contact cost model. Note that we can do it only with humanoids |
| 114 |
|
|
// as it needs to test the contact wrench cone |
| 115 |
|
✗ |
for (std::size_t cost_type = 0; cost_type < ContactCostModelTypes::all.size(); |
| 116 |
|
|
++cost_type) { |
| 117 |
|
✗ |
for (std::size_t activation_type = 0; |
| 118 |
|
✗ |
activation_type < |
| 119 |
|
|
ActivationModelTypes::ActivationModelQuadraticBarrier; |
| 120 |
|
|
++activation_type) { |
| 121 |
|
✗ |
register_contact_cost_model_unit_tests( |
| 122 |
|
✗ |
ContactCostModelTypes::all[cost_type], PinocchioModelTypes::Talos, |
| 123 |
|
✗ |
ActivationModelTypes::all[activation_type], |
| 124 |
|
|
ActuationModelTypes::ActuationModelFloatingBase); |
| 125 |
|
✗ |
if (ContactCostModelTypes::all[cost_type] == |
| 126 |
|
✗ |
ContactCostModelTypes::CostModelResidualContactForce || |
| 127 |
|
✗ |
ContactCostModelTypes::all[cost_type] == |
| 128 |
|
✗ |
ContactCostModelTypes::CostModelResidualContactFrictionCone || |
| 129 |
|
✗ |
ContactCostModelTypes::all[cost_type] == |
| 130 |
|
|
ContactCostModelTypes::CostModelResidualContactControlGrav) { |
| 131 |
|
✗ |
register_contact_cost_model_unit_tests( |
| 132 |
|
✗ |
ContactCostModelTypes::all[cost_type], PinocchioModelTypes::HyQ, |
| 133 |
|
✗ |
ActivationModelTypes::all[activation_type], |
| 134 |
|
|
ActuationModelTypes::ActuationModelFloatingBase); |
| 135 |
|
|
} |
| 136 |
|
|
} |
| 137 |
|
|
} |
| 138 |
|
|
|
| 139 |
|
✗ |
return true; |
| 140 |
|
|
} |
| 141 |
|
|
|
| 142 |
|
✗ |
int main(int argc, char** argv) { |
| 143 |
|
✗ |
return ::boost::unit_test::unit_test_main(&init_function, argc, argv); |
| 144 |
|
|
} |
| 145 |
|
|
|