| Directory: | ./ |
|---|---|
| File: | unittest/test_costs_noFF.cpp |
| Date: | 2025-03-26 19:23:43 |
| Exec | Total | Coverage | |
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| Lines: | 151 | 155 | 97.4% |
| Branches: | 368 | 788 | 46.7% |
| Line | Branch | Exec | Source |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, New York University, | ||
| 5 | // Max Planck Gesellschaft, University of Edinburgh, | ||
| 6 | // INRIA | ||
| 7 | // Copyright note valid unless otherwise stated in individual files. | ||
| 8 | // All rights reserved. | ||
| 9 | /////////////////////////////////////////////////////////////////////////////// | ||
| 10 | |||
| 11 | #define BOOST_TEST_NO_MAIN | ||
| 12 | #define BOOST_TEST_ALTERNATIVE_INIT_API | ||
| 13 | |||
| 14 | #include "crocoddyl/core/actuation-base.hpp" | ||
| 15 | #include "crocoddyl/multibody/actuations/full.hpp" | ||
| 16 | #include "crocoddyl/multibody/data/multibody.hpp" | ||
| 17 | #include "factory/actuation.hpp" | ||
| 18 | #include "factory/cost.hpp" | ||
| 19 | #include "unittest_common.hpp" | ||
| 20 | |||
| 21 | using namespace boost::unit_test; | ||
| 22 | using namespace crocoddyl::unittest; | ||
| 23 | |||
| 24 | //----------------------------------------------------------------------------// | ||
| 25 | |||
| 26 | 9 | void test_calc_returns_a_cost(CostModelNoFFTypes::Type cost_type, | |
| 27 | ActivationModelTypes::Type activation_type) { | ||
| 28 | // create the model | ||
| 29 |
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9 | CostModelFactory factory; |
| 30 | const std::shared_ptr<crocoddyl::CostModelAbstract>& model = | ||
| 31 |
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9 | factory.create(cost_type, activation_type); |
| 32 | |||
| 33 | // Run the print function | ||
| 34 |
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9 | std::ostringstream tmp; |
| 35 |
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9 | tmp << *model; |
| 36 | |||
| 37 | // create the corresponding data object | ||
| 38 | const std::shared_ptr<crocoddyl::StateMultibody>& state = | ||
| 39 |
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9 | std::static_pointer_cast<crocoddyl::StateMultibody>(model->get_state()); |
| 40 |
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9 | pinocchio::Model& pinocchio_model = *state->get_pinocchio().get(); |
| 41 |
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9 | pinocchio::Data pinocchio_data(pinocchio_model); |
| 42 | |||
| 43 | std::shared_ptr<crocoddyl::ActuationModelAbstract> actuation = | ||
| 44 |
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9 | std::make_shared<crocoddyl::ActuationModelFull>(state); |
| 45 | const std::shared_ptr<crocoddyl::ActuationDataAbstract>& actuation_data = | ||
| 46 |
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9 | actuation->createData(); |
| 47 | crocoddyl::DataCollectorActMultibody shared_data(&pinocchio_data, | ||
| 48 |
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9 | actuation_data); |
| 49 | const std::shared_ptr<crocoddyl::CostDataAbstract>& data = | ||
| 50 |
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9 | model->createData(&shared_data); |
| 51 | 9 | data->cost = nan(""); | |
| 52 | |||
| 53 | // Generating random values for the state and control | ||
| 54 |
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9 | const Eigen::VectorXd x = model->get_state()->rand(); |
| 55 |
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9 | const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu()); |
| 56 | |||
| 57 | // Compute all the pinocchio function needed for the models. | ||
| 58 |
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9 | crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x); |
| 59 | |||
| 60 | // Getting the cost value computed by calc() | ||
| 61 |
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9 | model->calc(data, x, u); |
| 62 | |||
| 63 | // Checking that calc returns a cost value | ||
| 64 |
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9 | BOOST_CHECK(!std::isnan(data->cost)); |
| 65 | |||
| 66 | // Checking that casted computation is the same | ||
| 67 | #ifdef NDEBUG // Run only in release mode | ||
| 68 | const std::shared_ptr<crocoddyl::CostModelAbstractTpl<float>>& casted_model = | ||
| 69 | model->cast<float>(); | ||
| 70 | const std::shared_ptr<crocoddyl::StateMultibodyTpl<float>>& casted_state = | ||
| 71 | std::static_pointer_cast<crocoddyl::StateMultibodyTpl<float>>( | ||
| 72 | casted_model->get_state()); | ||
| 73 | pinocchio::ModelTpl<float>& casted_pinocchio_model = | ||
| 74 | *casted_state->get_pinocchio().get(); | ||
| 75 | pinocchio::DataTpl<float> casted_pinocchio_data(casted_pinocchio_model); | ||
| 76 | std::shared_ptr<crocoddyl::ActuationModelAbstractTpl<float>> | ||
| 77 | casted_actuation = | ||
| 78 | std::make_shared<crocoddyl::ActuationModelFullTpl<float>>( | ||
| 79 | casted_state); | ||
| 80 | const std::shared_ptr<crocoddyl::ActuationDataAbstractTpl<float>>& | ||
| 81 | casted_actuation_data = casted_actuation->createData(); | ||
| 82 | crocoddyl::DataCollectorActMultibodyTpl<float> casted_shared_data( | ||
| 83 | &casted_pinocchio_data, casted_actuation_data); | ||
| 84 | const std::shared_ptr<crocoddyl::CostDataAbstractTpl<float>>& casted_data = | ||
| 85 | casted_model->createData(&casted_shared_data); | ||
| 86 | casted_data->cost = float(nan("")); | ||
| 87 | const Eigen::VectorXf x_f = x.cast<float>(); | ||
| 88 | const Eigen::VectorXf u_f = u.cast<float>(); | ||
| 89 | crocoddyl::unittest::updateAllPinocchio(&casted_pinocchio_model, | ||
| 90 | &casted_pinocchio_data, x_f); | ||
| 91 | casted_model->calc(casted_data, x_f, u_f); | ||
| 92 | BOOST_CHECK(!std::isnan(casted_data->cost)); | ||
| 93 | float tol_f = std::sqrt(2.0f * std::numeric_limits<float>::epsilon()); | ||
| 94 | BOOST_CHECK(std::abs(float(data->cost) - casted_data->cost) <= tol_f); | ||
| 95 | #endif | ||
| 96 | 9 | } | |
| 97 | |||
| 98 | 9 | void test_calc_against_numdiff(CostModelNoFFTypes::Type cost_type, | |
| 99 | ActivationModelTypes::Type activation_type) { | ||
| 100 | // create the model | ||
| 101 |
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9 | CostModelFactory factory; |
| 102 | const std::shared_ptr<crocoddyl::CostModelAbstract>& model = | ||
| 103 |
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9 | factory.create(cost_type, activation_type); |
| 104 | |||
| 105 | // create the corresponding data object | ||
| 106 | const std::shared_ptr<crocoddyl::StateMultibody>& state = | ||
| 107 |
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9 | std::static_pointer_cast<crocoddyl::StateMultibody>(model->get_state()); |
| 108 |
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9 | pinocchio::Model& pinocchio_model = *state->get_pinocchio().get(); |
| 109 |
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9 | pinocchio::Data pinocchio_data(pinocchio_model); |
| 110 | |||
| 111 | std::shared_ptr<crocoddyl::ActuationModelAbstract> actuation = | ||
| 112 |
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9 | std::make_shared<crocoddyl::ActuationModelFull>(state); |
| 113 | const std::shared_ptr<crocoddyl::ActuationDataAbstract>& actuation_data = | ||
| 114 |
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9 | actuation->createData(); |
| 115 | crocoddyl::DataCollectorActMultibody shared_data(&pinocchio_data, | ||
| 116 |
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9 | actuation_data); |
| 117 | const std::shared_ptr<crocoddyl::CostDataAbstract>& data = | ||
| 118 |
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9 | model->createData(&shared_data); |
| 119 | |||
| 120 | // Create the equivalent num diff model and data. | ||
| 121 |
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9 | crocoddyl::CostModelNumDiff model_num_diff(model); |
| 122 | const std::shared_ptr<crocoddyl::CostDataAbstract>& data_num_diff = | ||
| 123 |
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9 | model_num_diff.createData(&shared_data); |
| 124 | |||
| 125 | // Generating random values for the state and control | ||
| 126 |
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9 | const Eigen::VectorXd x = model->get_state()->rand(); |
| 127 |
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9 | const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu()); |
| 128 | |||
| 129 | // Compute all the pinocchio function needed for the models. | ||
| 130 |
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9 | crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x); |
| 131 | |||
| 132 | // Computing the cost derivatives | ||
| 133 |
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9 | model->calc(data, x, u); |
| 134 |
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9 | model_num_diff.calc(data_num_diff, x, u); |
| 135 | |||
| 136 | // Checking the partial derivatives against NumDiff | ||
| 137 |
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9 | BOOST_CHECK(data->cost == data_num_diff->cost); |
| 138 | |||
| 139 | // Checking that casted computation is the same | ||
| 140 | #ifdef NDEBUG // Run only in release mode | ||
| 141 | const std::shared_ptr<crocoddyl::CostModelAbstractTpl<float>>& casted_model = | ||
| 142 | model->cast<float>(); | ||
| 143 | const std::shared_ptr<crocoddyl::StateMultibodyTpl<float>>& casted_state = | ||
| 144 | std::static_pointer_cast<crocoddyl::StateMultibodyTpl<float>>( | ||
| 145 | casted_model->get_state()); | ||
| 146 | pinocchio::ModelTpl<float>& casted_pinocchio_model = | ||
| 147 | *casted_state->get_pinocchio().get(); | ||
| 148 | pinocchio::DataTpl<float> casted_pinocchio_data(casted_pinocchio_model); | ||
| 149 | std::shared_ptr<crocoddyl::ActuationModelAbstractTpl<float>> | ||
| 150 | casted_actuation = | ||
| 151 | std::make_shared<crocoddyl::ActuationModelFullTpl<float>>( | ||
| 152 | casted_state); | ||
| 153 | const std::shared_ptr<crocoddyl::ActuationDataAbstractTpl<float>>& | ||
| 154 | casted_actuation_data = casted_actuation->createData(); | ||
| 155 | crocoddyl::DataCollectorActMultibodyTpl<float> casted_shared_data( | ||
| 156 | &casted_pinocchio_data, casted_actuation_data); | ||
| 157 | const std::shared_ptr<crocoddyl::CostDataAbstractTpl<float>>& casted_data = | ||
| 158 | casted_model->createData(&casted_shared_data); | ||
| 159 | const Eigen::VectorXf x_f = x.cast<float>(); | ||
| 160 | const Eigen::VectorXf u_f = u.cast<float>(); | ||
| 161 | crocoddyl::unittest::updateAllPinocchio(&casted_pinocchio_model, | ||
| 162 | &casted_pinocchio_data, x_f); | ||
| 163 | casted_model->calc(casted_data, x_f, u_f); | ||
| 164 | float tol_f = std::sqrt(2.0f * std::numeric_limits<float>::epsilon()); | ||
| 165 | BOOST_CHECK(std::abs(float(data->cost) - casted_data->cost) <= tol_f); | ||
| 166 | #endif | ||
| 167 | 9 | } | |
| 168 | |||
| 169 | 9 | void test_partial_derivatives_against_numdiff( | |
| 170 | CostModelNoFFTypes::Type cost_type, | ||
| 171 | ActivationModelTypes::Type activation_type) { | ||
| 172 | using namespace boost::placeholders; | ||
| 173 | |||
| 174 | // create the model | ||
| 175 |
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9 | CostModelFactory factory; |
| 176 | const std::shared_ptr<crocoddyl::CostModelAbstract>& model = | ||
| 177 |
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9 | factory.create(cost_type, activation_type); |
| 178 | |||
| 179 | // create the corresponding data object | ||
| 180 | const std::shared_ptr<crocoddyl::StateMultibody>& state = | ||
| 181 |
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9 | std::static_pointer_cast<crocoddyl::StateMultibody>(model->get_state()); |
| 182 |
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9 | pinocchio::Model& pinocchio_model = *state->get_pinocchio().get(); |
| 183 |
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9 | pinocchio::Data pinocchio_data(pinocchio_model); |
| 184 | |||
| 185 | std::shared_ptr<crocoddyl::ActuationModelAbstract> actuation_model = | ||
| 186 |
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9 | std::make_shared<crocoddyl::ActuationModelFull>(state); |
| 187 | const std::shared_ptr<crocoddyl::ActuationDataAbstract>& actuation_data = | ||
| 188 |
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9 | actuation_model->createData(); |
| 189 | crocoddyl::DataCollectorActMultibody shared_data(&pinocchio_data, | ||
| 190 |
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9 | actuation_data); |
| 191 | const std::shared_ptr<crocoddyl::CostDataAbstract>& data = | ||
| 192 |
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9 | model->createData(&shared_data); |
| 193 | |||
| 194 | // Create the equivalent num diff model and data. | ||
| 195 |
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9 | crocoddyl::CostModelNumDiff model_num_diff(model); |
| 196 | const std::shared_ptr<crocoddyl::CostDataAbstract>& data_num_diff = | ||
| 197 |
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9 | model_num_diff.createData(&shared_data); |
| 198 | |||
| 199 | // Generating random values for the state and control | ||
| 200 |
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9 | Eigen::VectorXd x = model->get_state()->rand(); |
| 201 |
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9 | const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu()); |
| 202 | |||
| 203 | // Compute all the pinocchio function needed for the models. | ||
| 204 |
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9 | crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x); |
| 205 | |||
| 206 | // set the function that needs to be called at every step of the numdiff | ||
| 207 | 9 | std::vector<crocoddyl::CostModelNumDiff::ReevaluationFunction> reevals; | |
| 208 |
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9 | reevals.push_back( |
| 209 | boost::bind(&crocoddyl::unittest::updateAllPinocchio< | ||
| 210 | double, 0, pinocchio::JointCollectionDefaultTpl>, | ||
| 211 | &pinocchio_model, &pinocchio_data, _1, _2)); | ||
| 212 |
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9 | reevals.push_back(boost::bind(&crocoddyl::unittest::updateActuation<double>, |
| 213 | actuation_model, actuation_data, _1, _2)); | ||
| 214 |
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9 | model_num_diff.set_reevals(reevals); |
| 215 | |||
| 216 | // Computing the cost derivatives | ||
| 217 |
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9 | actuation_model->calc(actuation_data, x, u); |
| 218 |
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9 | actuation_model->calcDiff(actuation_data, x, u); |
| 219 |
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9 | model->calc(data, x, u); |
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9 | model->calcDiff(data, x, u); |
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9 | model_num_diff.calc(data_num_diff, x, u); |
| 222 |
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9 | model_num_diff.calcDiff(data_num_diff, x, u); |
| 223 | // Tolerance defined as in | ||
| 224 | // http://www.it.uom.gr/teaching/linearalgebra/NumericalRecipiesInC/c5-7.pdf | ||
| 225 |
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9 | double tol = std::pow(model_num_diff.get_disturbance(), 1. / 3.); |
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9 | BOOST_CHECK((data->Lx - data_num_diff->Lx).isZero(tol)); |
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9 | BOOST_CHECK((data->Lu - data_num_diff->Lu).isZero(tol)); |
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9 | if (model_num_diff.get_with_gauss_approx()) { |
| 229 |
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9 | BOOST_CHECK((data->Lxx - data_num_diff->Lxx).isZero(tol)); |
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9 | BOOST_CHECK((data->Lxu - data_num_diff->Lxu).isZero(tol)); |
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9 | BOOST_CHECK((data->Luu - data_num_diff->Luu).isZero(tol)); |
| 232 | } else { | ||
| 233 | ✗ | BOOST_CHECK((data_num_diff->Lxx).isZero(tol)); | |
| 234 | ✗ | BOOST_CHECK((data_num_diff->Lxu).isZero(tol)); | |
| 235 | ✗ | BOOST_CHECK((data_num_diff->Luu).isZero(tol)); | |
| 236 | } | ||
| 237 | |||
| 238 | // Computing the cost derivatives | ||
| 239 |
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9 | x = model->get_state()->rand(); |
| 240 |
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9 | crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x); |
| 241 |
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9 | actuation_model->calc(actuation_data, x); |
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9 | actuation_model->calcDiff(actuation_data, x); |
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9 | model->calc(data, x); |
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9 | model->calcDiff(data, x); |
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9 | model_num_diff.calc(data_num_diff, x); |
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9 | model_num_diff.calcDiff(data_num_diff, x); |
| 247 | |||
| 248 | // Checking the partial derivatives against numdiff | ||
| 249 |
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9 | BOOST_CHECK((data->Lx - data_num_diff->Lx).isZero(tol)); |
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9 | if (model_num_diff.get_with_gauss_approx()) { |
| 251 |
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9 | BOOST_CHECK((data->Lxx - data_num_diff->Lxx).isZero(tol)); |
| 252 | } else { | ||
| 253 | ✗ | BOOST_CHECK((data_num_diff->Lxx).isZero(tol)); | |
| 254 | } | ||
| 255 | |||
| 256 | // Checking that casted computation is the same | ||
| 257 | #ifdef NDEBUG // Run only in release mode | ||
| 258 | const std::shared_ptr<crocoddyl::CostModelAbstractTpl<float>>& casted_model = | ||
| 259 | model->cast<float>(); | ||
| 260 | const std::shared_ptr<crocoddyl::StateMultibodyTpl<float>>& casted_state = | ||
| 261 | std::static_pointer_cast<crocoddyl::StateMultibodyTpl<float>>( | ||
| 262 | casted_model->get_state()); | ||
| 263 | pinocchio::ModelTpl<float>& casted_pinocchio_model = | ||
| 264 | *casted_state->get_pinocchio().get(); | ||
| 265 | pinocchio::DataTpl<float> casted_pinocchio_data(casted_pinocchio_model); | ||
| 266 | std::shared_ptr<crocoddyl::ActuationModelAbstractTpl<float>> | ||
| 267 | casted_actuation = | ||
| 268 | std::make_shared<crocoddyl::ActuationModelFullTpl<float>>( | ||
| 269 | casted_state); | ||
| 270 | const std::shared_ptr<crocoddyl::ActuationDataAbstractTpl<float>>& | ||
| 271 | casted_actuation_data = casted_actuation->createData(); | ||
| 272 | crocoddyl::DataCollectorActMultibodyTpl<float> casted_shared_data( | ||
| 273 | &casted_pinocchio_data, casted_actuation_data); | ||
| 274 | const std::shared_ptr<crocoddyl::CostDataAbstractTpl<float>>& casted_data = | ||
| 275 | casted_model->createData(&casted_shared_data); | ||
| 276 | const Eigen::VectorXf x_f = x.cast<float>(); | ||
| 277 | const Eigen::VectorXf u_f = u.cast<float>(); | ||
| 278 | crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x); | ||
| 279 | crocoddyl::unittest::updateAllPinocchio(&casted_pinocchio_model, | ||
| 280 | &casted_pinocchio_data, x_f); | ||
| 281 | model->calc(data, x, u); | ||
| 282 | model->calcDiff(data, x, u); | ||
| 283 | casted_model->calc(casted_data, x_f, u_f); | ||
| 284 | casted_model->calcDiff(casted_data, x_f, u_f); | ||
| 285 | float tol_f = std::sqrt(2.0f * std::numeric_limits<float>::epsilon()); | ||
| 286 | BOOST_CHECK(std::abs(float(data->cost) - casted_data->cost) <= tol_f); | ||
| 287 | BOOST_CHECK((data->Lx.cast<float>() - casted_data->Lx).isZero(tol_f)); | ||
| 288 | BOOST_CHECK((data->Lu.cast<float>() - casted_data->Lu).isZero(tol_f)); | ||
| 289 | BOOST_CHECK((data->Lxx.cast<float>() - casted_data->Lxx).isZero(tol_f)); | ||
| 290 | BOOST_CHECK((data->Lxu.cast<float>() - casted_data->Lxu).isZero(tol_f)); | ||
| 291 | BOOST_CHECK((data->Luu.cast<float>() - casted_data->Luu).isZero(tol_f)); | ||
| 292 | crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x); | ||
| 293 | crocoddyl::unittest::updateAllPinocchio(&casted_pinocchio_model, | ||
| 294 | &casted_pinocchio_data, x_f); | ||
| 295 | model->calc(data, x); | ||
| 296 | model->calcDiff(data, x); | ||
| 297 | casted_model->calc(casted_data, x_f); | ||
| 298 | casted_model->calcDiff(casted_data, x_f); | ||
| 299 | BOOST_CHECK(std::abs(float(data->cost) - casted_data->cost) <= tol_f); | ||
| 300 | BOOST_CHECK((data->Lx.cast<float>() - casted_data->Lx).isZero(tol_f)); | ||
| 301 | BOOST_CHECK((data->Lxx.cast<float>() - casted_data->Lxx).isZero(tol_f)); | ||
| 302 | #endif | ||
| 303 | 9 | } | |
| 304 | |||
| 305 | 9 | void test_dimensions_in_cost_sum(CostModelNoFFTypes::Type cost_type, | |
| 306 | ActivationModelTypes::Type activation_type) { | ||
| 307 | // create the model | ||
| 308 |
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9 | CostModelFactory factory; |
| 309 | const std::shared_ptr<crocoddyl::CostModelAbstract>& model = | ||
| 310 |
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9 | factory.create(cost_type, activation_type); |
| 311 | |||
| 312 | // create the corresponding data object | ||
| 313 | const std::shared_ptr<crocoddyl::StateMultibody>& state = | ||
| 314 |
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9 | std::static_pointer_cast<crocoddyl::StateMultibody>(model->get_state()); |
| 315 |
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9 | pinocchio::Model& pinocchio_model = *state->get_pinocchio().get(); |
| 316 |
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9 | pinocchio::Data pinocchio_data(pinocchio_model); |
| 317 | |||
| 318 | std::shared_ptr<crocoddyl::ActuationModelAbstract> actuation = | ||
| 319 |
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9 | std::make_shared<crocoddyl::ActuationModelFull>(state); |
| 320 | const std::shared_ptr<crocoddyl::ActuationDataAbstract>& actuation_data = | ||
| 321 |
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9 | actuation->createData(); |
| 322 | crocoddyl::DataCollectorActMultibody shared_data(&pinocchio_data, | ||
| 323 |
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9 | actuation_data); |
| 324 | |||
| 325 | // create the cost sum model | ||
| 326 |
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9 | crocoddyl::CostModelSum cost_sum(state, model->get_nu()); |
| 327 |
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9 | cost_sum.addCost("myCost", model, 1.); |
| 328 | |||
| 329 | // Generating random values for the state and control | ||
| 330 |
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9 | const Eigen::VectorXd& x = state->rand(); |
| 331 | |||
| 332 | // Compute all the pinocchio function needed for the models. | ||
| 333 |
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9 | crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x); |
| 334 | |||
| 335 |
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9 | BOOST_CHECK(model->get_state()->get_nx() == cost_sum.get_state()->get_nx()); |
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9 | BOOST_CHECK(model->get_state()->get_ndx() == cost_sum.get_state()->get_ndx()); |
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9 | BOOST_CHECK(model->get_nu() == cost_sum.get_nu()); |
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9 | BOOST_CHECK(model->get_state()->get_nq() == cost_sum.get_state()->get_nq()); |
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9 | BOOST_CHECK(model->get_state()->get_nv() == cost_sum.get_state()->get_nv()); |
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9 | BOOST_CHECK(model->get_activation()->get_nr() == cost_sum.get_nr()); |
| 341 | |||
| 342 | // Checking that casted computation is the same | ||
| 343 | #ifdef NDEBUG // Run only in release mode | ||
| 344 | crocoddyl::CostModelSumTpl<float> casted_cost_sum = cost_sum.cast<float>(); | ||
| 345 | BOOST_CHECK(model->get_state()->get_nx() == | ||
| 346 | casted_cost_sum.get_state()->get_nx()); | ||
| 347 | BOOST_CHECK(model->get_state()->get_ndx() == | ||
| 348 | casted_cost_sum.get_state()->get_ndx()); | ||
| 349 | BOOST_CHECK(model->get_nu() == casted_cost_sum.get_nu()); | ||
| 350 | BOOST_CHECK(model->get_state()->get_nq() == | ||
| 351 | casted_cost_sum.get_state()->get_nq()); | ||
| 352 | BOOST_CHECK(model->get_state()->get_nv() == | ||
| 353 | casted_cost_sum.get_state()->get_nv()); | ||
| 354 | BOOST_CHECK(model->get_activation()->get_nr() == casted_cost_sum.get_nr()); | ||
| 355 | #endif | ||
| 356 | 9 | } | |
| 357 | |||
| 358 | 9 | void test_partial_derivatives_in_cost_sum( | |
| 359 | CostModelNoFFTypes::Type cost_type, | ||
| 360 | ActivationModelTypes::Type activation_type) { | ||
| 361 | // create the model | ||
| 362 |
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9 | CostModelFactory factory; |
| 363 | const std::shared_ptr<crocoddyl::CostModelAbstract>& model = | ||
| 364 |
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9 | factory.create(cost_type, activation_type); |
| 365 | |||
| 366 | // create the corresponding data object | ||
| 367 | const std::shared_ptr<crocoddyl::StateMultibody>& state = | ||
| 368 |
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9 | std::static_pointer_cast<crocoddyl::StateMultibody>(model->get_state()); |
| 369 |
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9 | pinocchio::Model& pinocchio_model = *state->get_pinocchio().get(); |
| 370 |
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9 | pinocchio::Data pinocchio_data(pinocchio_model); |
| 371 | |||
| 372 | std::shared_ptr<crocoddyl::ActuationModelAbstract> actuation = | ||
| 373 |
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9 | std::make_shared<crocoddyl::ActuationModelFull>(state); |
| 374 | const std::shared_ptr<crocoddyl::ActuationDataAbstract>& actuation_data = | ||
| 375 |
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9 | actuation->createData(); |
| 376 | crocoddyl::DataCollectorActMultibody shared_data(&pinocchio_data, | ||
| 377 |
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9 | actuation_data); |
| 378 | const std::shared_ptr<crocoddyl::CostDataAbstract>& data = | ||
| 379 |
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9 | model->createData(&shared_data); |
| 380 | |||
| 381 | // create the cost sum model | ||
| 382 |
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9 | crocoddyl::CostModelSum cost_sum(state, model->get_nu()); |
| 383 |
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9 | cost_sum.addCost("myCost", model, 1.); |
| 384 | const std::shared_ptr<crocoddyl::CostDataSum>& data_sum = | ||
| 385 |
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9 | cost_sum.createData(&shared_data); |
| 386 | |||
| 387 | // Generating random values for the state and control | ||
| 388 |
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9 | const Eigen::VectorXd& x = state->rand(); |
| 389 |
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9 | const Eigen::VectorXd& u = Eigen::VectorXd::Random(model->get_nu()); |
| 390 | |||
| 391 | // Compute all the pinocchio function needed for the models. | ||
| 392 |
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9 | crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x); |
| 393 | |||
| 394 | // Computing the cost derivatives | ||
| 395 |
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9 | model->calc(data, x, u); |
| 396 |
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9 | model->calcDiff(data, x, u); |
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9 | cost_sum.calc(data_sum, x, u); |
| 398 |
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9 | cost_sum.calcDiff(data_sum, x, u); |
| 399 | |||
| 400 |
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9 | BOOST_CHECK((data->Lx - data_sum->Lx).isZero()); |
| 401 |
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9 | BOOST_CHECK((data->Lu - data_sum->Lu).isZero()); |
| 402 |
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9 | BOOST_CHECK((data->Lxx - data_sum->Lxx).isZero()); |
| 403 |
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9 | BOOST_CHECK((data->Lxu - data_sum->Lxu).isZero()); |
| 404 |
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9 | BOOST_CHECK((data->Luu - data_sum->Luu).isZero()); |
| 405 | |||
| 406 | // Checking that casted computation is the same | ||
| 407 | #ifdef NDEBUG // Run only in release mode | ||
| 408 | const std::shared_ptr<crocoddyl::CostModelAbstractTpl<float>>& casted_model = | ||
| 409 | model->cast<float>(); | ||
| 410 | const std::shared_ptr<crocoddyl::StateMultibodyTpl<float>>& casted_state = | ||
| 411 | std::static_pointer_cast<crocoddyl::StateMultibodyTpl<float>>( | ||
| 412 | casted_model->get_state()); | ||
| 413 | pinocchio::ModelTpl<float>& casted_pinocchio_model = | ||
| 414 | *casted_state->get_pinocchio().get(); | ||
| 415 | pinocchio::DataTpl<float> casted_pinocchio_data(casted_pinocchio_model); | ||
| 416 | std::shared_ptr<crocoddyl::ActuationModelAbstractTpl<float>> | ||
| 417 | casted_actuation = | ||
| 418 | std::make_shared<crocoddyl::ActuationModelFullTpl<float>>( | ||
| 419 | casted_state); | ||
| 420 | const std::shared_ptr<crocoddyl::ActuationDataAbstractTpl<float>>& | ||
| 421 | casted_actuation_data = casted_actuation->createData(); | ||
| 422 | crocoddyl::DataCollectorActMultibodyTpl<float> casted_shared_data( | ||
| 423 | &casted_pinocchio_data, casted_actuation_data); | ||
| 424 | const std::shared_ptr<crocoddyl::CostDataAbstractTpl<float>>& casted_data = | ||
| 425 | casted_model->createData(&casted_shared_data); | ||
| 426 | crocoddyl::CostModelSumTpl<float> casted_cost_sum = cost_sum.cast<float>(); | ||
| 427 | const std::shared_ptr<crocoddyl::CostDataSumTpl<float>>& casted_data_sum = | ||
| 428 | casted_cost_sum.createData(&casted_shared_data); | ||
| 429 | const Eigen::VectorXf x_f = x.cast<float>(); | ||
| 430 | const Eigen::VectorXf u_f = u.cast<float>(); | ||
| 431 | casted_model->calc(casted_data, x_f, u_f); | ||
| 432 | casted_model->calcDiff(casted_data, x_f, u_f); | ||
| 433 | casted_cost_sum.calc(casted_data_sum, x_f, u_f); | ||
| 434 | casted_cost_sum.calcDiff(casted_data_sum, x_f, u_f); | ||
| 435 | BOOST_CHECK((casted_data->Lx - casted_data_sum->Lx).isZero()); | ||
| 436 | BOOST_CHECK((casted_data->Lu - casted_data_sum->Lu).isZero()); | ||
| 437 | BOOST_CHECK((casted_data->Lxx - casted_data_sum->Lxx).isZero()); | ||
| 438 | BOOST_CHECK((casted_data->Lxu - casted_data_sum->Lxu).isZero()); | ||
| 439 | BOOST_CHECK((casted_data->Luu - casted_data_sum->Luu).isZero()); | ||
| 440 | #endif | ||
| 441 | 9 | } | |
| 442 | |||
| 443 | //----------------------------------------------------------------------------// | ||
| 444 | |||
| 445 | 9 | void register_cost_model_unit_tests( | |
| 446 | CostModelNoFFTypes::Type cost_type, | ||
| 447 | ActivationModelTypes::Type activation_type) { | ||
| 448 |
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9 | boost::test_tools::output_test_stream test_name; |
| 449 |
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9 | test_name << "test_" << cost_type << "_" << activation_type |
| 450 |
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9 | << "_StateMultibody_TalosArm"; |
| 451 |
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9 | std::cout << "Running " << test_name.str() << std::endl; |
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9 | test_suite* ts = BOOST_TEST_SUITE(test_name.str()); |
| 453 |
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9 | ts->add(BOOST_TEST_CASE( |
| 454 | boost::bind(&test_calc_returns_a_cost, cost_type, activation_type))); | ||
| 455 |
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9 | ts->add(BOOST_TEST_CASE( |
| 456 | boost::bind(&test_calc_against_numdiff, cost_type, activation_type))); | ||
| 457 |
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9 | ts->add(BOOST_TEST_CASE(boost::bind(&test_partial_derivatives_against_numdiff, |
| 458 | cost_type, activation_type))); | ||
| 459 |
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9 | ts->add(BOOST_TEST_CASE( |
| 460 | boost::bind(&test_dimensions_in_cost_sum, cost_type, activation_type))); | ||
| 461 |
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9 | ts->add(BOOST_TEST_CASE(boost::bind(&test_partial_derivatives_in_cost_sum, |
| 462 | cost_type, activation_type))); | ||
| 463 |
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9 | framework::master_test_suite().add(ts); |
| 464 | 9 | } | |
| 465 | |||
| 466 | 1 | bool init_function() { | |
| 467 | // Test all costs available with all the activation types with state type | ||
| 468 | // TalosArm. | ||
| 469 |
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2 | for (size_t cost_type = 0; cost_type < CostModelNoFFTypes::all.size(); |
| 470 | ++cost_type) { | ||
| 471 | 10 | for (size_t activation_type = 0; | |
| 472 |
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10 | activation_type < ActivationModelTypes::all.size(); |
| 473 | ++activation_type) { | ||
| 474 | 9 | register_cost_model_unit_tests( | |
| 475 | 9 | CostModelNoFFTypes::all[cost_type], | |
| 476 | 9 | ActivationModelTypes::all[activation_type]); | |
| 477 | } | ||
| 478 | } | ||
| 479 | 1 | return true; | |
| 480 | } | ||
| 481 | |||
| 482 | 1 | int main(int argc, char** argv) { | |
| 483 | 1 | return ::boost::unit_test::unit_test_main(&init_function, argc, argv); | |
| 484 | } | ||
| 485 |