GCC Code Coverage Report

Directory: ./
File: unittest/test_residuals.cpp
Date: 2025-03-26 19:23:43
Exec Total Coverage
Lines: 165 165 100.0%
Branches: 320 624 51.3%
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 "crocoddyl/core/residuals/control.hpp"
13 #include "crocoddyl/core/residuals/joint-acceleration.hpp"
14 #include "crocoddyl/core/residuals/joint-effort.hpp"
15 #include "crocoddyl/multibody/data/multibody.hpp"
16 #include "crocoddyl/multibody/residuals/centroidal-momentum.hpp"
17 #include "crocoddyl/multibody/residuals/com-position.hpp"
18 #include "crocoddyl/multibody/residuals/state.hpp"
19 #include "factory/actuation.hpp"
20 #include "factory/residual.hpp"
21 #include "unittest_common.hpp"
22
23 using namespace boost::unit_test;
24 using namespace crocoddyl::unittest;
25
26 //----------------------------------------------------------------------------//
27
28 162 void test_calc_returns_a_residual(ResidualModelTypes::Type residual_type,
29 StateModelTypes::Type state_type,
30 ActuationModelTypes::Type actuation_type) {
31 // Create the model
32
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 162 ResidualModelFactory residual_factory;
33
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 162 ActuationModelFactory actuation_factory;
34 std::shared_ptr<crocoddyl::ActuationModelAbstract> actuation_model =
35
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 162 actuation_factory.create(actuation_type, state_type);
36 const std::shared_ptr<crocoddyl::ResidualModelAbstract>& model =
37 residual_factory.create(residual_type, state_type,
38
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 162 actuation_model->get_nu());
39
40 // Run the print function
41
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 162 std::ostringstream tmp;
42
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 162 tmp << *model;
43
44 // Create the corresponding shared data
45 const std::shared_ptr<crocoddyl::StateMultibody>& state =
46
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 162 std::static_pointer_cast<crocoddyl::StateMultibody>(model->get_state());
47
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 162 pinocchio::Model& pinocchio_model = *state->get_pinocchio().get();
48
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 162 pinocchio::Data pinocchio_data(pinocchio_model);
49 const std::shared_ptr<crocoddyl::ActuationDataAbstract>& actuation_data =
50
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 162 actuation_model->createData();
51 crocoddyl::DataCollectorActMultibody shared_data(&pinocchio_data,
52
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 162 actuation_data);
53
54 // create the residual data
55 const std::shared_ptr<crocoddyl::ResidualDataAbstract>& data =
56
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 162 model->createData(&shared_data);
57
58 // Generating random values for the state and control
59
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 162 const Eigen::VectorXd x = model->get_state()->rand();
60
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 162 const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu());
61
62 // Compute all the pinocchio function needed for the models.
63
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 162 crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x);
64
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 162 crocoddyl::unittest::updateActuation(actuation_model, actuation_data, x, u);
65
66 // Getting the residual value computed by calc()
67
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 162 data->r *= nan("");
68
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 162 model->calc(data, x, u);
69
70 // Checking that calc returns a residual value
71
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 2198 for (std::size_t i = 0; i < model->get_nr(); ++i)
72
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 2036 BOOST_CHECK(!std::isnan(data->r(i)));
73
74 // Checking that casted computation is the same
75 #ifdef NDEBUG // Run only in release mode
76 const std::shared_ptr<crocoddyl::ResidualModelAbstractTpl<float>>&
77 casted_model = model->cast<float>();
78 const std::shared_ptr<crocoddyl::ActuationModelAbstractTpl<float>>&
79 casted_actuation_model = actuation_model->cast<float>();
80 const std::shared_ptr<crocoddyl::StateMultibodyTpl<float>>& casted_state =
81 std::static_pointer_cast<crocoddyl::StateMultibodyTpl<float>>(
82 casted_model->get_state());
83 pinocchio::ModelTpl<float>& pinocchio_model_f =
84 *casted_state->get_pinocchio().get();
85 pinocchio::DataTpl<float> pinocchio_data_f(pinocchio_model_f);
86 const std::shared_ptr<crocoddyl::ActuationDataAbstractTpl<float>>&
87 casted_actuation_data = casted_actuation_model->createData();
88 crocoddyl::DataCollectorActMultibodyTpl<float> casted_shared_data(
89 &pinocchio_data_f, casted_actuation_data);
90 const std::shared_ptr<crocoddyl::ResidualDataAbstractTpl<float>>&
91 casted_data = casted_model->createData(&casted_shared_data);
92 const Eigen::VectorXf x_f = x.cast<float>();
93 const Eigen::VectorXf u_f = u.cast<float>();
94 crocoddyl::unittest::updateAllPinocchio(&pinocchio_model_f, &pinocchio_data_f,
95 x_f);
96 crocoddyl::unittest::updateActuation(casted_actuation_model,
97 casted_actuation_data, x_f, u_f);
98 casted_data->r *= float(nan(""));
99 casted_model->calc(casted_data, x_f, u_f);
100 for (std::size_t i = 0; i < casted_model->get_nr(); ++i)
101 BOOST_CHECK(!std::isnan(casted_data->r(i)));
102 float tol_f = std::sqrt(2.0f * std::numeric_limits<float>::epsilon());
103 BOOST_CHECK((data->r.cast<float>() - casted_data->r).isZero(tol_f));
104 #endif
105 162 }
106
107 162 void test_calc_against_numdiff(ResidualModelTypes::Type residual_type,
108 StateModelTypes::Type state_type,
109 ActuationModelTypes::Type actuation_type) {
110 using namespace boost::placeholders;
111
112 // Create the model
113
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 162 ResidualModelFactory residual_factory;
114
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 162 ActuationModelFactory actuation_factory;
115 std::shared_ptr<crocoddyl::ActuationModelAbstract> actuation_model =
116
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 162 actuation_factory.create(actuation_type, state_type);
117 const std::shared_ptr<crocoddyl::ResidualModelAbstract>& model =
118 residual_factory.create(residual_type, state_type,
119
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 162 actuation_model->get_nu());
120
121 // Create the corresponding shared data
122 const std::shared_ptr<crocoddyl::StateMultibody>& state =
123
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 162 std::static_pointer_cast<crocoddyl::StateMultibody>(model->get_state());
124
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 162 pinocchio::Model& pinocchio_model = *state->get_pinocchio().get();
125
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 162 pinocchio::Data pinocchio_data(pinocchio_model);
126 const std::shared_ptr<crocoddyl::ActuationDataAbstract>& actuation_data =
127
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 162 actuation_model->createData();
128 crocoddyl::DataCollectorActMultibody shared_data(&pinocchio_data,
129
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 162 actuation_data);
130
131 // Create the residual data
132 const std::shared_ptr<crocoddyl::ResidualDataAbstract>& data =
133
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 162 model->createData(&shared_data);
134
135 // Create the equivalent num diff model and data.
136
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 162 crocoddyl::ResidualModelNumDiff model_num_diff(model);
137 const std::shared_ptr<crocoddyl::ResidualDataAbstract>& data_num_diff =
138
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 162 model_num_diff.createData(&shared_data);
139
140 // Generating random values for the state and control
141
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 162 const Eigen::VectorXd x = model->get_state()->rand();
142
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 162 const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu());
143
144 // Computing the residual
145
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 162 crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x);
146
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 162 actuation_model->calc(actuation_data, x, u);
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 162 model->calc(data, x, u);
148
149 // Computing the residual from num diff
150 162 std::vector<crocoddyl::ResidualModelNumDiff::ReevaluationFunction> reevals;
151
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 162 reevals.push_back(
152 boost::bind(&crocoddyl::unittest::updateAllPinocchio<
153 double, 0, pinocchio::JointCollectionDefaultTpl>,
154 &pinocchio_model, &pinocchio_data, _1, _2));
155
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 162 reevals.push_back(boost::bind(&crocoddyl::unittest::updateActuation<double>,
156 actuation_model, actuation_data, _1, _2));
157
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 162 model_num_diff.set_reevals(reevals);
158
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 162 model_num_diff.calc(data_num_diff, x, u);
159
160 // Checking the partial derivatives against NumDiff
161
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 162 BOOST_CHECK(data->r == data_num_diff->r);
162
163 // Checking that casted computation is the same
164 #ifdef NDEBUG // Run only in release mode
165 const std::shared_ptr<crocoddyl::ResidualModelAbstractTpl<float>>&
166 casted_model = model->cast<float>();
167 const std::shared_ptr<crocoddyl::ActuationModelAbstractTpl<float>>&
168 casted_actuation_model = actuation_model->cast<float>();
169 const std::shared_ptr<crocoddyl::StateMultibodyTpl<float>>& casted_state =
170 std::static_pointer_cast<crocoddyl::StateMultibodyTpl<float>>(
171 casted_model->get_state());
172 pinocchio::ModelTpl<float>& casted_pinocchio_model =
173 *casted_state->get_pinocchio().get();
174 pinocchio::DataTpl<float> casted_pinocchio_data(casted_pinocchio_model);
175 const std::shared_ptr<crocoddyl::ActuationDataAbstractTpl<float>>&
176 casted_actuation_data = casted_actuation_model->createData();
177 crocoddyl::DataCollectorActMultibodyTpl<float> casted_shared_data(
178 &casted_pinocchio_data, casted_actuation_data);
179 const std::shared_ptr<crocoddyl::ResidualDataAbstractTpl<float>>&
180 casted_data = casted_model->createData(&casted_shared_data);
181 const Eigen::VectorXf x_f = x.cast<float>();
182 const Eigen::VectorXf u_f = u.cast<float>();
183 crocoddyl::unittest::updateAllPinocchio(&casted_pinocchio_model,
184 &casted_pinocchio_data, x_f);
185 casted_actuation_model->calc(casted_actuation_data, x_f, u_f);
186 casted_model->calc(casted_data, x_f, u_f);
187 float tol_f = std::sqrt(2.0f * std::numeric_limits<float>::epsilon());
188 BOOST_CHECK((data->r.cast<float>() - casted_data->r).isZero(tol_f));
189 #endif
190 162 }
191
192 162 void test_partial_derivatives_against_numdiff(
193 ResidualModelTypes::Type residual_type, StateModelTypes::Type state_type,
194 ActuationModelTypes::Type actuation_type) {
195 using namespace boost::placeholders;
196
197 // Create the model
198
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 162 ResidualModelFactory residual_factory;
199
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 162 ActuationModelFactory actuation_factory;
200 std::shared_ptr<crocoddyl::ActuationModelAbstract> actuation_model =
201
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 162 actuation_factory.create(actuation_type, state_type);
202 const std::shared_ptr<crocoddyl::ResidualModelAbstract>& model =
203 residual_factory.create(residual_type, state_type,
204
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 162 actuation_model->get_nu());
205
206 // Create the corresponding shared data
207 const std::shared_ptr<crocoddyl::StateMultibody>& state =
208
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 162 std::static_pointer_cast<crocoddyl::StateMultibody>(model->get_state());
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 162 pinocchio::Model& pinocchio_model = *state->get_pinocchio().get();
210
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 162 pinocchio::Data pinocchio_data(pinocchio_model);
211 const std::shared_ptr<crocoddyl::ActuationDataAbstract>& actuation_data =
212
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 162 actuation_model->createData();
213 crocoddyl::DataCollectorActMultibody shared_data(&pinocchio_data,
214
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 162 actuation_data);
215
216 // Create the residual data
217 const std::shared_ptr<crocoddyl::ResidualDataAbstract>& data =
218
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 162 model->createData(&shared_data);
219
220 // Create the equivalent num diff model and data.
221
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 162 crocoddyl::ResidualModelNumDiff model_num_diff(model);
222 const std::shared_ptr<crocoddyl::ResidualDataAbstract>& data_num_diff =
223
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 162 model_num_diff.createData(&shared_data);
224
225 // Generating random values for the state and control
226
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 162 Eigen::VectorXd x = model->get_state()->rand();
227
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 162 const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu());
228
229 // Computing the residual derivatives
230
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 162 crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x);
231
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 162 actuation_model->calc(actuation_data, x, u);
232
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 162 actuation_model->calcDiff(actuation_data, x, u);
233
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 162 model->calc(data, x, u);
234
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 162 model->calcDiff(data, x, u);
235
236 // Computing the residual derivatives via numerical differentiation
237 162 std::vector<crocoddyl::ResidualModelNumDiff::ReevaluationFunction> reevals;
238
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 162 reevals.push_back(
239 boost::bind(&crocoddyl::unittest::updateAllPinocchio<
240 double, 0, pinocchio::JointCollectionDefaultTpl>,
241 &pinocchio_model, &pinocchio_data, _1, _2));
242
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 162 reevals.push_back(boost::bind(&crocoddyl::unittest::updateActuation<double>,
243 actuation_model, actuation_data, _1, _2));
244
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 162 model_num_diff.set_reevals(reevals);
245
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 162 model_num_diff.calc(data_num_diff, x, u);
246
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 162 model_num_diff.calcDiff(data_num_diff, x, u);
247
248 // Checking the partial derivatives against numdiff
249 // Tolerance defined as in
250 // http://www.it.uom.gr/teaching/linearalgebra/NumericalRecipiesInC/c5-7.pdf
251 162 double tol = std::pow(model_num_diff.get_disturbance(), 1. / 3.);
252
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 162 BOOST_CHECK((data->Rx - data_num_diff->Rx).isZero(tol));
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 162 BOOST_CHECK((data->Ru - data_num_diff->Ru).isZero(tol));
254
255 // Computing the residual derivatives
256
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 162 x = model->get_state()->rand();
257
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 162 crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x);
258
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 162 actuation_model->calc(actuation_data, x);
259
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 162 actuation_model->calcDiff(actuation_data, x);
260
261 // Computing the residual derivatives via numerical differentiation
262
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 162 model->calc(data, x);
263
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 162 model->calcDiff(data, x);
264
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 162 model_num_diff.calc(data_num_diff, x);
265
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 162 model_num_diff.calcDiff(data_num_diff, x);
266
267 // Checking the partial derivatives against numdiff
268
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 162 BOOST_CHECK((data->Rx - data_num_diff->Rx).isZero(tol));
269
270 // Checking that casted computation is the same
271 #ifdef NDEBUG // Run only in release mode
272 const std::shared_ptr<crocoddyl::ResidualModelAbstractTpl<float>>&
273 casted_model = model->cast<float>();
274 const std::shared_ptr<crocoddyl::ActuationModelAbstractTpl<float>>&
275 casted_actuation_model = actuation_model->cast<float>();
276 const std::shared_ptr<crocoddyl::StateMultibodyTpl<float>>& casted_state =
277 std::static_pointer_cast<crocoddyl::StateMultibodyTpl<float>>(
278 casted_model->get_state());
279 pinocchio::ModelTpl<float>& casted_pinocchio_model =
280 *casted_state->get_pinocchio().get();
281 pinocchio::DataTpl<float> casted_pinocchio_data(casted_pinocchio_model);
282 const std::shared_ptr<crocoddyl::ActuationDataAbstractTpl<float>>&
283 casted_actuation_data = casted_actuation_model->createData();
284 crocoddyl::DataCollectorActMultibodyTpl<float> casted_shared_data(
285 &casted_pinocchio_data, casted_actuation_data);
286 const std::shared_ptr<crocoddyl::ResidualDataAbstractTpl<float>>&
287 casted_data = casted_model->createData(&casted_shared_data);
288 const Eigen::VectorXf x_f = x.cast<float>();
289 const Eigen::VectorXf u_f = u.cast<float>();
290 crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x);
291 crocoddyl::unittest::updateAllPinocchio(&casted_pinocchio_model,
292 &casted_pinocchio_data, x_f);
293 actuation_model->calc(actuation_data, x, u);
294 actuation_model->calcDiff(actuation_data, x, u);
295 model->calc(data, x, u);
296 model->calcDiff(data, x, u);
297 casted_actuation_model->calc(casted_actuation_data, x_f, u_f);
298 casted_actuation_model->calcDiff(casted_actuation_data, x_f, u_f);
299 casted_model->calc(casted_data, x_f, u_f);
300 casted_model->calcDiff(casted_data, x_f, u_f);
301 float tol_f = std::sqrt(2.0f * std::numeric_limits<float>::epsilon());
302 BOOST_CHECK((data->Rx.cast<float>() - casted_data->Rx).isZero(tol_f));
303 BOOST_CHECK((data->Ru.cast<float>() - casted_data->Ru).isZero(tol_f));
304 crocoddyl::unittest::updateAllPinocchio(&pinocchio_model, &pinocchio_data, x);
305 crocoddyl::unittest::updateAllPinocchio(&casted_pinocchio_model,
306 &casted_pinocchio_data, x_f);
307 actuation_model->calc(actuation_data, x);
308 actuation_model->calcDiff(actuation_data, x);
309 model->calc(data, x);
310 model->calcDiff(data, x);
311 casted_actuation_model->calc(casted_actuation_data, x_f);
312 casted_actuation_model->calcDiff(casted_actuation_data, x_f);
313 casted_model->calc(casted_data, x_f);
314 casted_model->calcDiff(casted_data, x_f);
315 BOOST_CHECK((data->Rx.cast<float>() - casted_data->Rx).isZero(tol_f));
316 #endif
317 162 }
318
319 1 void test_reference() {
320
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 1 ResidualModelFactory factory;
321 1 StateModelTypes::Type state_type = StateModelTypes::StateMultibody_Talos;
322 1 ActuationModelTypes::Type actuation_type =
323 ActuationModelTypes::ActuationModelFloatingBase;
324
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 1 StateModelFactory state_factory;
325
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 1 ActuationModelFactory actuation_factory;
326 std::shared_ptr<crocoddyl::StateMultibody> state =
327 std::static_pointer_cast<crocoddyl::StateMultibody>(
328
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 1 state_factory.create(state_type));
329 std::shared_ptr<crocoddyl::ActuationModelAbstract> actuation =
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 1 actuation_factory.create(actuation_type, state_type);
331
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 1 const std::size_t nu = actuation->get_nu();
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 1 const std::size_t nv = state->get_nv();
334
335 // Test reference in state residual
336
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337
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 1 BOOST_CHECK((x_ref - state_residual.get_reference()).isZero());
340 // Checking that casted computation is the same
341 #ifdef NDEBUG // Run only in release mode
342 crocoddyl::ResidualModelStateTpl<float> casted_state_residual =
343 state_residual.cast<float>();
344 Eigen::VectorXf x_ref_f = casted_state_residual.get_state()->rand();
345 casted_state_residual.set_reference(x_ref_f);
346 BOOST_CHECK((x_ref_f - casted_state_residual.get_reference()).isZero());
347 #endif
348 // Test reference in control residual
349
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350
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 1 BOOST_CHECK((u_ref - control_residual.get_reference()).isZero());
353 // Checking that casted computation is the same
354 #ifdef NDEBUG // Run only in release mode
355 crocoddyl::ResidualModelControlTpl<float> casted_control_residual =
356 control_residual.cast<float>();
357 Eigen::VectorXf u_ref_f = Eigen::VectorXf::Random(nu);
358 casted_control_residual.set_reference(u_ref_f);
359 BOOST_CHECK((u_ref_f - casted_control_residual.get_reference()).isZero());
360 #endif
361 // Test reference in joint-acceleration residual
362
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364
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365
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 1 BOOST_CHECK((a_ref - jacc_residual.get_reference()).isZero());
366 // Checking that casted computation is the same
367 #ifdef NDEBUG // Run only in release mode
368 crocoddyl::ResidualModelJointAccelerationTpl<float> casted_jacc_residual =
369 jacc_residual.cast<float>();
370 Eigen::VectorXf a_ref_f = Eigen::VectorXf::Random(nv);
371 casted_jacc_residual.set_reference(a_ref_f);
372 BOOST_CHECK((a_ref_f - casted_jacc_residual.get_reference()).isZero());
373 #endif
374 // Test reference in joint-effort residual
375
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 1 BOOST_CHECK((tau_ref - jeff_residual.get_reference()).isZero());
379 // Checking that casted computation is the same
380 #ifdef NDEBUG // Run only in release mode
381 crocoddyl::ResidualModelJointEffortTpl<float> casted_jeff_residual =
382 jeff_residual.cast<float>();
383 Eigen::VectorXf tau_ref_f = Eigen::VectorXf::Random(nu);
384 casted_jeff_residual.set_reference(tau_ref_f);
385 BOOST_CHECK((tau_ref_f - casted_jeff_residual.get_reference()).isZero());
386 #endif
387 // Test reference in centroidal-momentum residual
388 crocoddyl::ResidualModelCentroidalMomentum cmon_residual(
389
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 1 state, Eigen::Matrix<double, 6, 1>::Zero());
390
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 1 Eigen::Matrix<double, 6, 1> h_ref = Eigen::Matrix<double, 6, 1>::Random();
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 1 BOOST_CHECK((h_ref - cmon_residual.get_reference()).isZero());
393 // Checking that casted computation is the same
394 #ifdef NDEBUG // Run only in release mode
395 crocoddyl::ResidualModelCentroidalMomentumTpl<float> casted_cmon_residual =
396 cmon_residual.cast<float>();
397 Eigen::Matrix<float, 6, 1> h_ref_f = Eigen::Matrix<float, 6, 1>::Random();
398 casted_cmon_residual.set_reference(h_ref_f);
399 BOOST_CHECK((h_ref_f - casted_cmon_residual.get_reference()).isZero());
400 #endif
401 // Test reference in com-position residual
402 crocoddyl::ResidualModelCoMPosition c_residual(state,
403
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 1 Eigen::Vector3d::Zero());
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 1 c_residual.set_reference(c_ref);
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 1 BOOST_CHECK((c_ref - c_residual.get_reference()).isZero());
407 // Checking that casted computation is the same
408 #ifdef NDEBUG // Run only in release mode
409 crocoddyl::ResidualModelCoMPositionTpl<float> casted_c_residual =
410 c_residual.cast<float>();
411 Eigen::Vector3f c_ref_f = Eigen::Vector3f::Random();
412 casted_c_residual.set_reference(c_ref_f);
413 BOOST_CHECK((c_ref_f - casted_c_residual.get_reference()).isZero());
414 #endif
415 1 }
416
417 //----------------------------------------------------------------------------//
418
419 162 void register_residual_model_unit_tests(
420 ResidualModelTypes::Type residual_type, StateModelTypes::Type state_type,
421 ActuationModelTypes::Type actuation_type) {
422
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 162 boost::test_tools::output_test_stream test_name;
423
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 162 test_name << "test_" << residual_type << "_" << state_type << "_"
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 162 << actuation_type;
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 162 std::cout << "Running " << test_name.str() << std::endl;
426
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 162 test_suite* ts = BOOST_TEST_SUITE(test_name.str());
427 324 ts->add(
428
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 162 BOOST_TEST_CASE(boost::bind(&test_calc_returns_a_residual, residual_type,
429 state_type, actuation_type)));
430
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 162 ts->add(BOOST_TEST_CASE(boost::bind(&test_calc_against_numdiff, residual_type,
431 state_type, actuation_type)));
432 324 ts->add(
433
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 162 BOOST_TEST_CASE(boost::bind(&test_partial_derivatives_against_numdiff,
434 residual_type, state_type, actuation_type)));
435
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 162 framework::master_test_suite().add(ts);
436 162 }
437
438 1 void regiter_residual_reference_unit_tests() {
439
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 1 std::cout << "Running " << test_name.str() << std::endl;
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 1 test_suite* ts = BOOST_TEST_SUITE(test_name.str());
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 1 ts->add(BOOST_TEST_CASE(boost::bind(&test_reference)));
444
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 1 framework::master_test_suite().add(ts);
445 1 }
446
447 1 bool init_function() {
448 // Test all residuals available with all the activation types with all
449 // available states types.
450
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 10 for (size_t residual_type = 0; residual_type < ResidualModelTypes::all.size();
451 ++residual_type) {
452 // size_t residual_type = ResidualModelTypes::ResidualModelCoMPosition;
453 45 for (size_t state_type =
454 9 StateModelTypes::all[StateModelTypes::StateMultibody_TalosArm];
455
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 54 state_type < StateModelTypes::all.size(); ++state_type) {
456 225 for (size_t actuation_type = 0;
457
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 225 actuation_type < ActuationModelTypes::all.size(); ++actuation_type) {
458
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 180 if (ActuationModelTypes::all[actuation_type] !=
459 ActuationModelTypes::ActuationModelFloatingBaseThrusters) {
460 135 register_residual_model_unit_tests(
461 135 ResidualModelTypes::all[residual_type],
462 135 StateModelTypes::all[state_type],
463 135 ActuationModelTypes::all[actuation_type]);
464 45 } else if (StateModelTypes::all[state_type] !=
465
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 81 StateModelTypes::StateMultibody_TalosArm &&
466
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 36 StateModelTypes::all[state_type] !=
467 StateModelTypes::StateMultibodyContact2D_TalosArm) {
468 27 register_residual_model_unit_tests(
469 27 ResidualModelTypes::all[residual_type],
470 27 StateModelTypes::all[state_type],
471 27 ActuationModelTypes::all[actuation_type]);
472 }
473 }
474 }
475 }
476 1 regiter_residual_reference_unit_tests();
477 1 return true;
478 }
479
480 1 int main(int argc, char** argv) {
481 1 return ::boost::unit_test::unit_test_main(&init_function, argc, argv);
482 }
483