| 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/impulse_constraint.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_impulse_numdiff( | |
| 21 | ImpulseConstraintModelTypes::Type constraint_type, | ||
| 22 | PinocchioModelTypes::Type model_type) { | ||
| 23 | // create the model | ||
| 24 | const std::shared_ptr<crocoddyl::ActionModelAbstract> &model = | ||
| 25 | ✗ | ImpulseConstraintModelFactory().create(constraint_type, model_type); | |
| 26 | |||
| 27 | // create the corresponding data object and set the constraint to nan | ||
| 28 | const std::shared_ptr<crocoddyl::ActionDataAbstract> &data = | ||
| 29 | ✗ | model->createData(); | |
| 30 | |||
| 31 | ✗ | crocoddyl::ActionModelNumDiff model_num_diff(model); | |
| 32 | const std::shared_ptr<crocoddyl::ActionDataAbstract> &data_num_diff = | ||
| 33 | ✗ | model_num_diff.createData(); | |
| 34 | |||
| 35 | // Generating random values for the state and control | ||
| 36 | ✗ | const Eigen::VectorXd x = model->get_state()->rand(); | |
| 37 | ✗ | const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu()); | |
| 38 | |||
| 39 | // Computing the action derivatives | ||
| 40 | ✗ | model->calc(data, x, u); | |
| 41 | ✗ | model->calcDiff(data, x, u); | |
| 42 | ✗ | model_num_diff.calc(data_num_diff, x, u); | |
| 43 | ✗ | model_num_diff.calcDiff(data_num_diff, x, u); | |
| 44 | // Tolerance defined as in | ||
| 45 | // http://www.it.uom.gr/teaching/linearalgebra/NumericalRecipiesInC/c5-7.pdf | ||
| 46 | ✗ | double tol = std::pow(model_num_diff.get_disturbance(), 1. / 3.); | |
| 47 | ✗ | BOOST_CHECK((data->Gx - data_num_diff->Gx).isZero(tol)); | |
| 48 | ✗ | BOOST_CHECK((data->Hx - data_num_diff->Hx).isZero(tol)); | |
| 49 | |||
| 50 | // Checking that casted computation is the same | ||
| 51 | #ifdef NDEBUG // Run only in release mode | ||
| 52 | const std::shared_ptr<crocoddyl::ActionModelAbstractTpl<float>> | ||
| 53 | &casted_model = model->cast<float>(); | ||
| 54 | const std::shared_ptr<crocoddyl::ActionDataAbstractTpl<float>> &casted_data = | ||
| 55 | casted_model->createData(); | ||
| 56 | Eigen::VectorXf x_f = x.cast<float>(); | ||
| 57 | const Eigen::VectorXf u_f = u.cast<float>(); | ||
| 58 | model->calc(data, x, u); | ||
| 59 | model->calcDiff(data, x, u); | ||
| 60 | casted_model->calc(casted_data, x_f, u_f); | ||
| 61 | casted_model->calcDiff(casted_data, x_f, u_f); | ||
| 62 | float tol_f = 10.f * std::sqrt(2.0f * std::numeric_limits<float>::epsilon()); | ||
| 63 | BOOST_CHECK((data->Gx.cast<float>() - casted_data->Gx).isZero(tol_f)); | ||
| 64 | BOOST_CHECK((data->Hx.cast<float>() - casted_data->Hx).isZero(tol_f)); | ||
| 65 | #endif | ||
| 66 | ✗ | } | |
| 67 | |||
| 68 | //----------------------------------------------------------------------------// | ||
| 69 | |||
| 70 | ✗ | void register_impulse_constraint_model_unit_tests( | |
| 71 | ImpulseConstraintModelTypes::Type constraint_type, | ||
| 72 | PinocchioModelTypes::Type model_type) { | ||
| 73 | ✗ | boost::test_tools::output_test_stream test_name; | |
| 74 | ✗ | test_name << "test_" << constraint_type << "_" << model_type; | |
| 75 | ✗ | std::cout << "Running " << test_name.str() << std::endl; | |
| 76 | ✗ | test_suite *ts = BOOST_TEST_SUITE(test_name.str()); | |
| 77 | ✗ | ts->add(BOOST_TEST_CASE( | |
| 78 | boost::bind(&test_partial_derivatives_against_impulse_numdiff, | ||
| 79 | constraint_type, model_type))); | ||
| 80 | ✗ | framework::master_test_suite().add(ts); | |
| 81 | ✗ | } | |
| 82 | |||
| 83 | ✗ | bool init_function() { | |
| 84 | // Test all the impulse constraint model. Note that we can do it only with | ||
| 85 | // humanoids as it needs to test the impulse wrench cone | ||
| 86 | ✗ | for (size_t constraint_type = 0; | |
| 87 | ✗ | constraint_type < ImpulseConstraintModelTypes::all.size(); | |
| 88 | ++constraint_type) { | ||
| 89 | ✗ | register_impulse_constraint_model_unit_tests( | |
| 90 | ✗ | ImpulseConstraintModelTypes::all[constraint_type], | |
| 91 | PinocchioModelTypes::Talos); | ||
| 92 | ✗ | register_impulse_constraint_model_unit_tests( | |
| 93 | ✗ | ImpulseConstraintModelTypes::all[constraint_type], | |
| 94 | PinocchioModelTypes::RandomHumanoid); | ||
| 95 | ✗ | if (ImpulseConstraintModelTypes::all[constraint_type] == | |
| 96 | ImpulseConstraintModelTypes:: | ||
| 97 | ✗ | ConstraintModelResidualImpulseForceEquality || | |
| 98 | ✗ | ImpulseConstraintModelTypes::all[constraint_type] == | |
| 99 | ImpulseConstraintModelTypes:: | ||
| 100 | ConstraintModelResidualImpulseFrictionConeInequality) { | ||
| 101 | ✗ | register_impulse_constraint_model_unit_tests( | |
| 102 | ✗ | ImpulseConstraintModelTypes::all[constraint_type], | |
| 103 | PinocchioModelTypes::HyQ); | ||
| 104 | } | ||
| 105 | } | ||
| 106 | |||
| 107 | ✗ | return true; | |
| 108 | } | ||
| 109 | |||
| 110 | ✗ | int main(int argc, char **argv) { | |
| 111 | ✗ | return ::boost::unit_test::unit_test_main(&init_function, argc, argv); | |
| 112 | } | ||
| 113 |