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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, 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/multibody/contacts/contact-1d.hpp" |
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#include "crocoddyl/multibody/contacts/contact-2d.hpp" |
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#include "crocoddyl/multibody/contacts/contact-3d.hpp" |
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#include "crocoddyl/multibody/contacts/contact-6d.hpp" |
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#include "factory/contact.hpp" |
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#include "unittest_common.hpp" |
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using namespace crocoddyl::unittest; |
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using namespace boost::unit_test; |
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//----------------------------------------------------------------------------// |
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void test_construct_data(ContactModelTypes::Type contact_type, |
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PinocchioModelTypes::Type model_type) { |
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// create the model |
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ContactModelFactory factory; |
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std::shared_ptr<crocoddyl::ContactModelAbstract> model = |
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factory.create(contact_type, model_type, Eigen::Vector2d::Random()); |
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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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// create the corresponding data object |
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const std::shared_ptr<pinocchio::Model>& pinocchio_model = |
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model->get_state()->get_pinocchio(); |
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pinocchio::Data pinocchio_data(*pinocchio_model.get()); |
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std::shared_ptr<crocoddyl::ContactDataAbstract> data = |
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model->createData(&pinocchio_data); |
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} |
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void test_calc_fetch_jacobians(ContactModelTypes::Type contact_type, |
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PinocchioModelTypes::Type model_type) { |
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// create the model |
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ContactModelFactory factory; |
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std::shared_ptr<crocoddyl::ContactModelAbstract> model = |
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factory.create(contact_type, model_type, Eigen::Vector2d::Random()); |
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// create the corresponding data object |
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const std::shared_ptr<pinocchio::Model>& pinocchio_model = |
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model->get_state()->get_pinocchio(); |
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pinocchio::Data pinocchio_data(*pinocchio_model.get()); |
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const std::shared_ptr<crocoddyl::ContactDataAbstract>& data = |
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model->createData(&pinocchio_data); |
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// Compute the jacobian and check that the impulse model fetch it. |
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Eigen::VectorXd x = model->get_state()->rand(); |
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crocoddyl::unittest::updateAllPinocchio(pinocchio_model.get(), |
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&pinocchio_data, x); |
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// Getting the jacobian from the model |
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model->calc(data, x); |
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// Check that only the Jacobian has been filled |
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BOOST_CHECK(!data->Jc.isZero()); |
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if (model_type != |
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PinocchioModelTypes::Hector) { // this is due to Hector is a single rigid |
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// body system. |
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BOOST_CHECK(!data->a0.isZero()); |
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} |
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BOOST_CHECK(data->da0_dx.isZero()); |
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BOOST_CHECK(data->f.toVector().isZero()); |
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BOOST_CHECK(data->df_dx.isZero()); |
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BOOST_CHECK(data->df_du.isZero()); |
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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::ContactModelAbstractTpl<float>> casted_model = |
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model->cast<float>(); |
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const std::shared_ptr<pinocchio::ModelTpl<float>>& pinocchio_model_f = |
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casted_model->get_state()->get_pinocchio(); |
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pinocchio::DataTpl<float> pinocchio_data_f(*pinocchio_model_f.get()); |
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const std::shared_ptr<crocoddyl::ContactDataAbstractTpl<float>>& casted_data = |
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casted_model->createData(&pinocchio_data_f); |
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Eigen::VectorXf x_f = x.cast<float>(); |
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crocoddyl::unittest::updateAllPinocchio(pinocchio_model_f.get(), |
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&pinocchio_data_f, x_f); |
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casted_model->calc(casted_data, x_f); |
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BOOST_CHECK(!casted_data->Jc.isZero()); |
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if (model_type != |
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PinocchioModelTypes::Hector) { // this is due to Hector is a single rigid |
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// body system. |
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BOOST_CHECK(!casted_data->a0.isZero()); |
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} |
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BOOST_CHECK(casted_data->da0_dx.isZero()); |
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BOOST_CHECK(casted_data->f.toVector().isZero()); |
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BOOST_CHECK(casted_data->df_dx.isZero()); |
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BOOST_CHECK(casted_data->df_du.isZero()); |
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#endif |
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} |
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void test_calc_diff_fetch_derivatives(ContactModelTypes::Type contact_type, |
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PinocchioModelTypes::Type model_type) { |
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// create the model |
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ContactModelFactory factory; |
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std::shared_ptr<crocoddyl::ContactModelAbstract> model = |
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factory.create(contact_type, model_type, Eigen::Vector2d::Random()); |
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// create the corresponding data object |
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const std::shared_ptr<pinocchio::Model>& pinocchio_model = |
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model->get_state()->get_pinocchio(); |
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pinocchio::Data pinocchio_data(*pinocchio_model.get()); |
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const std::shared_ptr<crocoddyl::ContactDataAbstract>& data = |
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model->createData(&pinocchio_data); |
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// Compute the jacobian and check that the impulse model fetch it. |
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Eigen::VectorXd x = model->get_state()->rand(); |
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crocoddyl::unittest::updateAllPinocchio(pinocchio_model.get(), |
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&pinocchio_data, x); |
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// Getting the jacobian from the model |
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model->calc(data, x); |
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model->calcDiff(data, x); |
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// Check that nothing has been computed and that all value are initialized to |
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// 0 |
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BOOST_CHECK(!data->Jc.isZero()); |
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if (model_type != |
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PinocchioModelTypes::Hector) { // this is due to Hector is a single rigid |
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// body system. |
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BOOST_CHECK(!data->a0.isZero()); |
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BOOST_CHECK(!data->da0_dx.isZero()); |
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} |
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BOOST_CHECK(data->f.toVector().isZero()); |
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BOOST_CHECK(data->df_dx.isZero()); |
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BOOST_CHECK(data->df_du.isZero()); |
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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::ContactModelAbstractTpl<float>> casted_model = |
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model->cast<float>(); |
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const std::shared_ptr<pinocchio::ModelTpl<float>>& pinocchio_model_f = |
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casted_model->get_state()->get_pinocchio(); |
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pinocchio::DataTpl<float> pinocchio_data_f(*pinocchio_model_f.get()); |
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const std::shared_ptr<crocoddyl::ContactDataAbstractTpl<float>>& casted_data = |
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casted_model->createData(&pinocchio_data_f); |
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Eigen::VectorXf x_f = x.cast<float>(); |
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crocoddyl::unittest::updateAllPinocchio(pinocchio_model_f.get(), |
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&pinocchio_data_f, x_f); |
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casted_model->calc(casted_data, x_f); |
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casted_model->calcDiff(casted_data, x_f); |
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BOOST_CHECK(!casted_data->Jc.isZero()); |
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if (model_type != |
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PinocchioModelTypes::Hector) { // this is due to Hector is a single rigid |
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// body system. |
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float tol_f = |
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80.f * std::sqrt(2.0f * std::numeric_limits<float>::epsilon()); |
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BOOST_CHECK(!casted_data->a0.isZero()); |
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BOOST_CHECK(!casted_data->da0_dx.isZero()); |
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BOOST_CHECK((data->a0.cast<float>() - casted_data->a0).isZero()); |
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BOOST_CHECK( |
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(data->da0_dx.cast<float>() - casted_data->da0_dx).isZero(tol_f)); |
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} |
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BOOST_CHECK(casted_data->f.toVector().isZero()); |
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BOOST_CHECK(casted_data->df_dx.isZero()); |
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BOOST_CHECK(casted_data->df_du.isZero()); |
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#endif |
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} |
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void test_update_force(ContactModelTypes::Type contact_type, |
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PinocchioModelTypes::Type model_type) { |
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// create the model |
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ContactModelFactory factory; |
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std::shared_ptr<crocoddyl::ContactModelAbstract> model = |
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factory.create(contact_type, model_type, Eigen::Vector2d::Random()); |
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// create the corresponding data object |
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const std::shared_ptr<pinocchio::Model>& pinocchio_model = |
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model->get_state()->get_pinocchio(); |
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pinocchio::Data pinocchio_data(*pinocchio_model.get()); |
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const std::shared_ptr<crocoddyl::ContactDataAbstract>& data = |
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model->createData(&pinocchio_data); |
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// Create a random force and update it |
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Eigen::VectorXd f = Eigen::VectorXd::Random(data->Jc.rows()); |
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model->updateForce(data, f); |
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// Check that nothing has been computed and that all value are initialized to |
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// 0 |
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BOOST_CHECK(data->Jc.isZero()); |
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BOOST_CHECK(data->a0.isZero()); |
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BOOST_CHECK(data->da0_dx.isZero()); |
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BOOST_CHECK(!data->f.toVector().isZero()); |
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BOOST_CHECK(!data->fext.toVector().isZero()); |
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BOOST_CHECK(data->df_dx.isZero()); |
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BOOST_CHECK(data->df_du.isZero()); |
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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::ContactModelAbstractTpl<float>> casted_model = |
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model->cast<float>(); |
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const std::shared_ptr<pinocchio::ModelTpl<float>>& pinocchio_model_f = |
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casted_model->get_state()->get_pinocchio(); |
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pinocchio::DataTpl<float> pinocchio_data_f(*pinocchio_model_f.get()); |
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const std::shared_ptr<crocoddyl::ContactDataAbstractTpl<float>>& casted_data = |
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casted_model->createData(&pinocchio_data_f); |
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Eigen::VectorXf f_f = f.cast<float>(); |
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casted_model->updateForce(casted_data, f_f); |
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BOOST_CHECK(casted_data->Jc.isZero()); |
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BOOST_CHECK(casted_data->a0.isZero()); |
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BOOST_CHECK(casted_data->da0_dx.isZero()); |
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BOOST_CHECK(!casted_data->f.toVector().isZero()); |
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BOOST_CHECK(!casted_data->fext.toVector().isZero()); |
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BOOST_CHECK( |
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(data->f.toVector().cast<float>() - casted_data->f.toVector()).isZero()); |
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BOOST_CHECK( |
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(data->fext.toVector().cast<float>() - casted_data->fext.toVector()) |
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.isZero()); |
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BOOST_CHECK(casted_data->df_dx.isZero()); |
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BOOST_CHECK(casted_data->df_du.isZero()); |
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#endif |
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} |
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void test_update_force_diff(ContactModelTypes::Type contact_type, |
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PinocchioModelTypes::Type model_type) { |
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// create the model |
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ContactModelFactory factory; |
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std::shared_ptr<crocoddyl::ContactModelAbstract> model = |
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factory.create(contact_type, model_type, Eigen::Vector2d::Random()); |
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// create the corresponding data object |
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const std::shared_ptr<pinocchio::Model>& pinocchio_model = |
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model->get_state()->get_pinocchio(); |
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pinocchio::Data pinocchio_data(*pinocchio_model.get()); |
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const std::shared_ptr<crocoddyl::ContactDataAbstract>& data = |
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model->createData(&pinocchio_data); |
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// Create a random force and update it |
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Eigen::MatrixXd df_dx = |
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Eigen::MatrixXd::Random(data->df_dx.rows(), data->df_dx.cols()); |
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Eigen::MatrixXd df_du = |
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Eigen::MatrixXd::Random(data->df_du.rows(), data->df_du.cols()); |
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model->updateForceDiff(data, df_dx, df_du); |
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// Check that nothing has been computed and that all value are initialized to |
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// 0 |
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BOOST_CHECK(data->Jc.isZero()); |
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BOOST_CHECK(data->a0.isZero()); |
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BOOST_CHECK(data->da0_dx.isZero()); |
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BOOST_CHECK(data->f.toVector().isZero()); |
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BOOST_CHECK(data->fext.toVector().isZero()); |
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BOOST_CHECK(!data->df_dx.isZero()); |
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BOOST_CHECK(!data->df_du.isZero()); |
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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::ContactModelAbstractTpl<float>> casted_model = |
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model->cast<float>(); |
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const std::shared_ptr<pinocchio::ModelTpl<float>>& pinocchio_model_f = |
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casted_model->get_state()->get_pinocchio(); |
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pinocchio::DataTpl<float> pinocchio_data_f(*pinocchio_model_f.get()); |
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const std::shared_ptr<crocoddyl::ContactDataAbstractTpl<float>>& casted_data = |
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casted_model->createData(&pinocchio_data_f); |
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Eigen::MatrixXf df_dx_f = df_dx.cast<float>(); |
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Eigen::MatrixXf df_du_f = df_du.cast<float>(); |
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casted_model->updateForceDiff(casted_data, df_dx_f, df_du_f); |
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BOOST_CHECK(casted_data->Jc.isZero()); |
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BOOST_CHECK(casted_data->a0.isZero()); |
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BOOST_CHECK(casted_data->da0_dx.isZero()); |
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BOOST_CHECK(casted_data->f.toVector().isZero()); |
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BOOST_CHECK(casted_data->fext.toVector().isZero()); |
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BOOST_CHECK(!casted_data->df_dx.isZero()); |
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BOOST_CHECK(!casted_data->df_du.isZero()); |
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BOOST_CHECK((data->df_dx.cast<float>() - casted_data->df_dx).isZero()); |
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BOOST_CHECK((data->df_du.cast<float>() - casted_data->df_du).isZero()); |
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#endif |
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} |
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void test_partial_derivatives_against_numdiff( |
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ContactModelTypes::Type contact_type, |
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PinocchioModelTypes::Type model_type) { |
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using namespace boost::placeholders; |
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// create the model |
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ContactModelFactory factory; |
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std::shared_ptr<crocoddyl::ContactModelAbstract> model = |
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factory.create(contact_type, model_type, Eigen::Vector2d::Random()); |
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// create the corresponding data object |
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pinocchio::Model& pinocchio_model = |
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*model->get_state()->get_pinocchio().get(); |
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pinocchio::Data pinocchio_data(pinocchio_model); |
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const std::shared_ptr<crocoddyl::ContactDataAbstract>& data = |
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model->createData(&pinocchio_data); |
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// Create the equivalent num diff model and data. |
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crocoddyl::ContactModelNumDiff model_num_diff(model); |
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const std::shared_ptr<crocoddyl::ContactDataAbstract>& data_num_diff = |
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model_num_diff.createData(&pinocchio_data); |
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// Generating random values for the state |
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const Eigen::VectorXd x = model->get_state()->rand(); |
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// Compute all the pinocchio function needed for the models. |
| 306 |
|
✗ |
crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x); |
| 307 |
|
|
|
| 308 |
|
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// set the function that needs to be called at every step of the numdiff |
| 309 |
|
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std::vector<crocoddyl::ContactModelNumDiff::ReevaluationFunction> reevals; |
| 310 |
|
✗ |
reevals.push_back( |
| 311 |
|
|
boost::bind(&crocoddyl::unittest::updateAllPinocchio< |
| 312 |
|
|
double, 0, pinocchio::JointCollectionDefaultTpl>, |
| 313 |
|
|
&pinocchio_model, &pinocchio_data, _1, _2)); |
| 314 |
|
✗ |
model_num_diff.set_reevals(reevals); |
| 315 |
|
|
|
| 316 |
|
|
// Computing the contact derivatives |
| 317 |
|
✗ |
model->calc(data, x); |
| 318 |
|
✗ |
model->calcDiff(data, x); |
| 319 |
|
✗ |
model_num_diff.calc(data_num_diff, x); |
| 320 |
|
✗ |
model_num_diff.calcDiff(data_num_diff, x); |
| 321 |
|
|
// Tolerance defined as in |
| 322 |
|
|
// http://www.it.uom.gr/teaching/linearalgebra/NumericalRecipiesInC/c5-7.pdf |
| 323 |
|
✗ |
double tol = std::pow(model_num_diff.get_disturbance(), 1. / 3.); |
| 324 |
|
✗ |
BOOST_CHECK((data->da0_dx - data_num_diff->da0_dx).isZero(tol)); |
| 325 |
|
|
|
| 326 |
|
|
// Checking that casted computation is the same |
| 327 |
|
|
#ifdef NDEBUG // Run only in release mode |
| 328 |
|
|
std::shared_ptr<crocoddyl::ContactModelAbstractTpl<float>> casted_model = |
| 329 |
|
|
model->cast<float>(); |
| 330 |
|
|
pinocchio::ModelTpl<float>& pinocchio_model_f = |
| 331 |
|
|
*casted_model->get_state()->get_pinocchio().get(); |
| 332 |
|
|
pinocchio::DataTpl<float> pinocchio_data_f(pinocchio_model_f); |
| 333 |
|
|
const std::shared_ptr<crocoddyl::ContactDataAbstractTpl<float>>& casted_data = |
| 334 |
|
|
casted_model->createData(&pinocchio_data_f); |
| 335 |
|
|
const Eigen::VectorXf x_f = x.cast<float>(); |
| 336 |
|
|
crocoddyl::ContactModelNumDiffTpl<float> casted_model_num_diff = |
| 337 |
|
|
model_num_diff.cast<float>(); |
| 338 |
|
|
const std::shared_ptr<crocoddyl::ContactDataAbstractTpl<float>>& |
| 339 |
|
|
casted_data_num_diff = |
| 340 |
|
|
casted_model_num_diff.createData(&pinocchio_data_f); |
| 341 |
|
|
crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x); |
| 342 |
|
|
crocoddyl::unittest::updateAllPinocchio(&pinocchio_model_f, &pinocchio_data_f, |
| 343 |
|
|
x_f); |
| 344 |
|
|
std::vector<crocoddyl::ContactModelNumDiffTpl<float>::ReevaluationFunction> |
| 345 |
|
|
reevals_f; |
| 346 |
|
|
reevals_f.push_back( |
| 347 |
|
|
boost::bind(&crocoddyl::unittest::updateAllPinocchio< |
| 348 |
|
|
float, 0, pinocchio::JointCollectionDefaultTpl>, |
| 349 |
|
|
&pinocchio_model_f, &pinocchio_data_f, _1, _2)); |
| 350 |
|
|
casted_model_num_diff.set_reevals(reevals_f); |
| 351 |
|
|
model->calc(data, x); |
| 352 |
|
|
model->calcDiff(data, x); |
| 353 |
|
|
casted_model->calc(casted_data, x_f); |
| 354 |
|
|
casted_model->calcDiff(casted_data, x_f); |
| 355 |
|
|
casted_model_num_diff.calc(casted_data_num_diff, x_f); |
| 356 |
|
|
casted_model_num_diff.calcDiff(casted_data_num_diff, x_f); |
| 357 |
|
|
float tol_f = 80.f * std::sqrt(2.0f * std::numeric_limits<float>::epsilon()); |
| 358 |
|
|
BOOST_CHECK((data->da0_dx.cast<float>() - casted_data->da0_dx).isZero(tol_f)); |
| 359 |
|
|
BOOST_CHECK((casted_data->da0_dx - casted_data_num_diff->da0_dx) |
| 360 |
|
|
.isZero(30.f * tol_f)); |
| 361 |
|
|
#endif |
| 362 |
|
|
} |
| 363 |
|
|
|
| 364 |
|
|
//----------------------------------------------------------------------------// |
| 365 |
|
|
|
| 366 |
|
✗ |
void register_contact_model_unit_tests(ContactModelTypes::Type contact_type, |
| 367 |
|
|
PinocchioModelTypes::Type model_type) { |
| 368 |
|
✗ |
boost::test_tools::output_test_stream test_name; |
| 369 |
|
✗ |
test_name << "test_" << contact_type << "_" << model_type; |
| 370 |
|
✗ |
std::cout << "Running " << test_name.str() << std::endl; |
| 371 |
|
✗ |
test_suite* ts = BOOST_TEST_SUITE(test_name.str()); |
| 372 |
|
✗ |
ts->add(BOOST_TEST_CASE( |
| 373 |
|
|
boost::bind(&test_construct_data, contact_type, model_type))); |
| 374 |
|
✗ |
ts->add(BOOST_TEST_CASE( |
| 375 |
|
|
boost::bind(&test_calc_fetch_jacobians, contact_type, model_type))); |
| 376 |
|
✗ |
ts->add(BOOST_TEST_CASE(boost::bind(&test_calc_diff_fetch_derivatives, |
| 377 |
|
|
contact_type, model_type))); |
| 378 |
|
✗ |
ts->add(BOOST_TEST_CASE( |
| 379 |
|
|
boost::bind(&test_update_force, contact_type, model_type))); |
| 380 |
|
✗ |
ts->add(BOOST_TEST_CASE( |
| 381 |
|
|
boost::bind(&test_update_force_diff, contact_type, model_type))); |
| 382 |
|
✗ |
ts->add(BOOST_TEST_CASE(boost::bind(&test_partial_derivatives_against_numdiff, |
| 383 |
|
|
contact_type, model_type))); |
| 384 |
|
✗ |
framework::master_test_suite().add(ts); |
| 385 |
|
|
} |
| 386 |
|
|
|
| 387 |
|
✗ |
bool init_function() { |
| 388 |
|
✗ |
for (size_t contact_type = 0; contact_type < ContactModelTypes::all.size(); |
| 389 |
|
|
++contact_type) { |
| 390 |
|
✗ |
for (size_t model_type = 0; model_type < PinocchioModelTypes::all.size(); |
| 391 |
|
|
++model_type) { |
| 392 |
|
✗ |
register_contact_model_unit_tests(ContactModelTypes::all[contact_type], |
| 393 |
|
✗ |
PinocchioModelTypes::all[model_type]); |
| 394 |
|
|
} |
| 395 |
|
|
} |
| 396 |
|
✗ |
return true; |
| 397 |
|
|
} |
| 398 |
|
|
|
| 399 |
|
✗ |
int main(int argc, char** argv) { |
| 400 |
|
✗ |
return ::boost::unit_test::unit_test_main(&init_function, argc, argv); |
| 401 |
|
|
} |
| 402 |
|
|
|