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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2023, 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 "factory/impulse_constraint.hpp" |
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#include "unittest_common.hpp" |
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using namespace boost::unit_test; |
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using namespace crocoddyl::unittest; |
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//----------------------------------------------------------------------------// |
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void test_partial_derivatives_against_impulse_numdiff( |
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ImpulseConstraintModelTypes::Type constraint_type, |
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PinocchioModelTypes::Type model_type) { |
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// create the model |
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const boost::shared_ptr<crocoddyl::ActionModelAbstract> &model = |
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✓✗✓✗ |
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ImpulseConstraintModelFactory().create(constraint_type, model_type); |
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// create the corresponding data object and set the constraint to nan |
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const boost::shared_ptr<crocoddyl::ActionDataAbstract> &data = |
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model->createData(); |
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crocoddyl::ActionModelNumDiff model_num_diff(model); |
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const boost::shared_ptr<crocoddyl::ActionDataAbstract> &data_num_diff = |
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model_num_diff.createData(); |
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// Generating random values for the state and control |
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const Eigen::VectorXd x = model->get_state()->rand(); |
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✓✗✓✗ |
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const Eigen::VectorXd u = Eigen::VectorXd::Random(model->get_nu()); |
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// Computing the action derivatives |
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✓✗✓✗ ✓✗ |
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model->calc(data, x, u); |
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✓✗✓✗ ✓✗ |
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model->calcDiff(data, x, u); |
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✓✗✓✗ ✓✗ |
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model_num_diff.calc(data_num_diff, x, u); |
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✓✗✓✗ ✓✗ |
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model_num_diff.calcDiff(data_num_diff, x, u); |
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// Tolerance defined as in |
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// http://www.it.uom.gr/teaching/linearalgebra/NumericalRecipiesInC/c5-7.pdf |
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double tol = std::pow(model_num_diff.get_disturbance(), 1. / 3.); |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
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BOOST_CHECK((data->Gx - data_num_diff->Gx).isZero(tol)); |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
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BOOST_CHECK((data->Hx - data_num_diff->Hx).isZero(tol)); |
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} |
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//----------------------------------------------------------------------------// |
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void register_impulse_constraint_model_unit_tests( |
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ImpulseConstraintModelTypes::Type constraint_type, |
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PinocchioModelTypes::Type model_type) { |
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✓✗✓✗ |
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boost::test_tools::output_test_stream test_name; |
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✓✗✓✗ ✓✗✓✗ |
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test_name << "test_" << constraint_type << "_" << model_type; |
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✓✗✓✗ ✓✗✓✗ |
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std::cout << "Running " << test_name.str() << std::endl; |
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✓✗✓✗ ✓✗✓✗ |
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test_suite *ts = BOOST_TEST_SUITE(test_name.str()); |
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✓✗✓✗ ✓✗✓✗ ✓✗ |
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ts->add(BOOST_TEST_CASE( |
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boost::bind(&test_partial_derivatives_against_impulse_numdiff, |
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constraint_type, model_type))); |
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✓✗✓✗ ✓✗ |
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framework::master_test_suite().add(ts); |
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} |
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bool init_function() { |
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// Test all the impulse constraint model. Note that we can do it only with |
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// humanoids as it needs to test the impulse wrench cone |
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for (size_t constraint_type = 0; |
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✓✓ | 6 |
constraint_type < ImpulseConstraintModelTypes::all.size(); |
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++constraint_type) { |
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register_impulse_constraint_model_unit_tests( |
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ImpulseConstraintModelTypes::all[constraint_type], |
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PinocchioModelTypes::Talos); |
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register_impulse_constraint_model_unit_tests( |
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ImpulseConstraintModelTypes::all[constraint_type], |
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PinocchioModelTypes::RandomHumanoid); |
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if (ImpulseConstraintModelTypes::all[constraint_type] == |
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ImpulseConstraintModelTypes:: |
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✓✓✓✓ |
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ConstraintModelResidualImpulseForceEquality || |
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ImpulseConstraintModelTypes::all[constraint_type] == |
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ImpulseConstraintModelTypes:: |
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ConstraintModelResidualImpulseFrictionConeInequality) { |
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register_impulse_constraint_model_unit_tests( |
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ImpulseConstraintModelTypes::all[constraint_type], |
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PinocchioModelTypes::HyQ); |
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} |
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} |
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return true; |
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} |
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int main(int argc, char **argv) { |
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return ::boost::unit_test::unit_test_main(&init_function, argc, argv); |
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} |
| Generated by: GCOVR (Version 4.2) |