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// |
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// Copyright (c) 2019-2021 CNRS INRIA |
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// |
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#include "pinocchio/algorithm/center-of-mass.hpp" |
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#include "pinocchio/algorithm/joint-configuration.hpp" |
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#include "pinocchio/algorithm/compute-all-terms.hpp" |
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#include "pinocchio/algorithm/center-of-mass-derivatives.hpp" |
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#include "pinocchio/multibody/sample-models.hpp" |
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#include <boost/test/unit_test.hpp> |
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#include <boost/utility/binary.hpp> |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_kinematics_derivatives_vcom) |
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{ |
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using namespace Eigen; |
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using namespace pinocchio; |
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Model model; |
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buildModels::humanoid(model); |
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Data data_ref(model); |
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model.lowerPositionLimit.head<3>().fill(-1.); |
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model.upperPositionLimit.head<3>().fill(1.); |
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VectorXd q = randomConfiguration(model); |
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VectorXd vq(VectorXd::Random(model.nv)); |
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VectorXd aq(VectorXd::Random(model.nv)); |
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// Approximate dvcom_dq by finite diff. |
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centerOfMass(model, data_ref, q, vq); |
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const Eigen::Vector3d vcom0 = data_ref.vcom[0]; |
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const double alpha = 1e-8; |
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Eigen::VectorXd dq = VectorXd::Zero(model.nv); |
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Data::Matrix3x dvcom_dqn(3, model.nv); |
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for (int k = 0; k < model.nv; ++k) |
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{ |
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dq[k] = alpha; |
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centerOfMass(model, data_ref, integrate(model, q, dq), vq); |
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dvcom_dqn.col(k) = (data_ref.vcom[0] - vcom0) / alpha; |
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dq[k] = 0; |
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} |
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{ |
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// Compute dvcom_dq using the algorithm |
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Data data(model); |
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Data::Matrix3x dvcom_dq = Data::Matrix3x::Zero(3, model.nv); |
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centerOfMass(model, data, q, vq); |
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getCenterOfMassVelocityDerivatives(model, data, dvcom_dq); |
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// Check that algo result and finite-diff approx are similar. |
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BOOST_CHECK(dvcom_dq.isApprox(dvcom_dqn, sqrt(alpha))); |
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} |
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{ |
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// Compute dvcom_dq using the algorithm |
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Data data(model); |
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Data::Matrix3x dvcom_dq = Data::Matrix3x::Zero(3, model.nv); |
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computeAllTerms(model, data, q, vq); |
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getCenterOfMassVelocityDerivatives(model, data, dvcom_dq); |
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// Check that algo result and finite-diff approx are similar. |
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BOOST_CHECK(dvcom_dq.isApprox(dvcom_dqn, sqrt(alpha))); |
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} |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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