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// |
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// Copyright(c) 2015-2021 CNRS INRIA |
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// Copyright(c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France. |
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// |
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#include "pinocchio/math/fwd.hpp" |
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#include "pinocchio/multibody/joint/joints.hpp" |
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#include "pinocchio/algorithm/rnea.hpp" |
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#include "pinocchio/algorithm/aba.hpp" |
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#include "pinocchio/algorithm/crba.hpp" |
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#include "pinocchio/algorithm/jacobian.hpp" |
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#include "pinocchio/algorithm/compute-all-terms.hpp" |
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#include <boost/test/unit_test.hpp> |
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#include <iostream> |
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using namespace pinocchio; |
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template<typename JointModel_> |
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struct init; |
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template<typename JointModel_> |
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struct init |
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{ |
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static JointModel_ run() |
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{ |
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JointModel_ jmodel; |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options> |
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struct init<pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options>> |
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{ |
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typedef pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options> JointModel; |
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static JointModel run() |
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{ |
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typedef typename JointModel::Vector3 Vector3; |
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JointModel jmodel(Vector3::Random().normalized()); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options> |
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struct init<pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options>> |
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{ |
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typedef pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options> JointModel; |
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static JointModel run() |
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{ |
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typedef typename JointModel::Vector3 Vector3; |
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JointModel jmodel(Vector3::Random().normalized()); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options> |
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struct init<pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options>> |
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{ |
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typedef pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options> JointModel; |
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static JointModel run() |
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{ |
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typedef typename JointModel::Vector3 Vector3; |
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JointModel jmodel(Vector3::Random().normalized()); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options, template<typename, int> class JointCollection> |
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struct init<pinocchio::JointModelTpl<Scalar, Options, JointCollection>> |
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{ |
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typedef pinocchio::JointModelTpl<Scalar, Options, JointCollection> JointModel; |
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static JointModel run() |
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{ |
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typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 0> JointModelRX; |
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JointModel jmodel((JointModelRX())); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options, template<typename, int> class JointCollection> |
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struct init<pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollection>> |
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{ |
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typedef pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollection> JointModel; |
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static JointModel run() |
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{ |
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typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 0> JointModelRX; |
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typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 1> JointModelRY; |
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JointModel jmodel((JointModelRX())); |
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jmodel.addJoint(JointModelRY()); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename JointModel_> |
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struct init<pinocchio::JointModelMimic<JointModel_>> |
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{ |
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typedef pinocchio::JointModelMimic<JointModel_> JointModel; |
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static JointModel run() |
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{ |
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JointModel_ jmodel_ref = init<JointModel_>::run(); |
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JointModel jmodel(jmodel_ref, 1., 0.); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options> |
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struct init<pinocchio::JointModelUniversalTpl<Scalar, Options>> |
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{ |
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typedef pinocchio::JointModelUniversalTpl<Scalar, Options> JointModel; |
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static JointModel run() |
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{ |
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JointModel jmodel(XAxis::vector(), YAxis::vector()); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options, int axis> |
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struct init<pinocchio::JointModelHelicalTpl<Scalar, Options, axis>> |
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{ |
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typedef pinocchio::JointModelHelicalTpl<Scalar, Options, axis> JointModel; |
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static JointModel run() |
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{ |
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JointModel jmodel(static_cast<Scalar>(0.5)); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options> |
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struct init<pinocchio::JointModelHelicalUnalignedTpl<Scalar, Options>> |
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{ |
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typedef pinocchio::JointModelHelicalUnalignedTpl<Scalar, Options> JointModel; |
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static JointModel run() |
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{ |
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typedef typename JointModel::Vector3 Vector3; |
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JointModel jmodel(Vector3::Random().normalized()); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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BOOST_AUTO_TEST_SUITE(joint_model_base_test) |
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template<typename TestDerived> |
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struct TestJointModel |
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{ |
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template<typename JointModel> |
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void operator()(const pinocchio::JointModelBase<JointModel> &) const |
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{ |
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JointModel jmodel = init<JointModel>::run(); |
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return TestDerived::test(jmodel); |
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} |
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}; |
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struct TestJointModelIsEqual : TestJointModel<TestJointModelIsEqual> |
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{ |
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template<typename JointModel> |
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static void test(const JointModelBase<JointModel> & jmodel) |
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{ |
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JointModel jmodel_copy = jmodel.derived(); |
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BOOST_CHECK(jmodel_copy == jmodel.derived()); |
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JointModel jmodel_any; |
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BOOST_CHECK(jmodel_any != jmodel.derived()); |
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BOOST_CHECK(!jmodel_any.isEqual(jmodel.derived())); |
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} |
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}; |
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struct TestJointModelTransform : TestJointModel<TestJointModelTransform> |
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{ |
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template<typename JointModel> |
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static void test(const JointModelBase<JointModel> & jmodel) |
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{ |
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typedef typename JointModel::JointDataDerived JointData; |
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JointData jdata = jmodel.createData(); |
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Eigen::Matrix<typename JointModel::Scalar, 3, 1> v = jdata.M_accessor().translation(); |
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Eigen::Matrix<typename JointModel::Scalar, 3, 3> R = jdata.M_accessor().rotation(); |
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} |
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}; |
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BOOST_AUTO_TEST_CASE(isEqual) |
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{ |
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typedef JointCollectionDefault::JointModelVariant JointModelVariant; |
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boost::mpl::for_each<JointModelVariant::types>(TestJointModelIsEqual()); |
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JointModelRX joint_revolutex; |
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JointModelRY joint_revolutey; |
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BOOST_CHECK(joint_revolutex != joint_revolutey); |
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JointModel jmodelx(joint_revolutex); |
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jmodelx.setIndexes(0, 0, 0); |
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TestJointModelIsEqual()(JointModel()); |
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JointModel jmodel_any; |
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BOOST_CHECK(jmodel_any != jmodelx); |
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} |
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BOOST_AUTO_TEST_CASE(transform) |
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{ |
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typedef JointCollectionDefault::JointModelVariant JointModelVariant; |
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boost::mpl::for_each<JointModelVariant::types>(TestJointModelTransform()); |
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TestJointModelTransform()(JointModel()); |
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} |
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struct TestJointModelCast : TestJointModel<TestJointModelCast> |
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{ |
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template<typename JointModel> |
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static void test(const JointModelBase<JointModel> & jmodel) |
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{ |
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typedef typename JointModel::Scalar Scalar; |
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BOOST_CHECK(jmodel == jmodel); |
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BOOST_CHECK(jmodel.template cast<Scalar>().isEqual(jmodel)); |
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BOOST_CHECK(jmodel.template cast<Scalar>() == jmodel); |
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BOOST_CHECK_MESSAGE( |
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jmodel.template cast<long double>().template cast<double>() == jmodel, |
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std::string("Error when casting " + jmodel.shortname() + " from long double to double.")); |
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} |
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}; |
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BOOST_AUTO_TEST_CASE(cast) |
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{ |
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typedef JointCollectionDefault::JointModelVariant JointModelVariant; |
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boost::mpl::for_each<JointModelVariant::types>(TestJointModelCast()); |
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TestJointModelCast()(JointModel()); |
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} |
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struct TestJointModelDisp : TestJointModel<TestJointModelDisp> |
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{ |
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template<typename JointModel> |
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static void test(const JointModelBase<JointModel> & jmodel) |
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{ |
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typedef typename JointModel::JointDataDerived JointData; |
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std::cout << "shortname: " << jmodel.shortname() << std::endl; |
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std::cout << "classname: " << jmodel.classname() << std::endl; |
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std::cout << "disp:\n" << jmodel << std::endl; |
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JointData jdata = jmodel.createData(); |
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std::cout << "shortname: " << jdata.shortname() << std::endl; |
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std::cout << "classname: " << jdata.classname() << std::endl; |
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std::cout << "disp:\n" << jdata << std::endl; |
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} |
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}; |
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BOOST_AUTO_TEST_CASE(test_disp) |
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{ |
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typedef JointCollectionDefault::JointModelVariant JointModelVariant; |
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boost::mpl::for_each<JointModelVariant::types>(TestJointModelDisp()); |
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TestJointModelDisp()(JointModel()); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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