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// |
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// Copyright (c) 2018-2021 INRIA |
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// |
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#include "pinocchio/algorithm/crba.hpp" |
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#include "pinocchio/algorithm/rnea.hpp" |
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#include "pinocchio/algorithm/centroidal.hpp" |
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#include "pinocchio/algorithm/centroidal-derivatives.hpp" |
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#include "pinocchio/algorithm/rnea-derivatives.hpp" |
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#include "pinocchio/algorithm/aba-derivatives.hpp" |
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#include "pinocchio/algorithm/jacobian.hpp" |
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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/multibody/sample-models.hpp" |
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#include <iostream> |
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#include <boost/test/unit_test.hpp> |
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#include <boost/utility/binary.hpp> |
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template<typename JointModel> |
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static void addJointAndBody( |
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pinocchio::Model & model, |
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const pinocchio::JointModelBase<JointModel> & joint, |
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const std::string & parent_name, |
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const std::string & name, |
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const pinocchio::SE3 placement = pinocchio::SE3::Random(), |
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bool setRandomLimits = true) |
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{ |
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using namespace pinocchio; |
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typedef typename JointModel::ConfigVector_t CV; |
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typedef typename JointModel::TangentVector_t TV; |
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Model::JointIndex idx; |
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if (setRandomLimits) |
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idx = model.addJoint( |
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model.getJointId(parent_name), joint, SE3::Random(), name + "_joint", |
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TV::Random() + TV::Constant(1), TV::Random() + TV::Constant(1), |
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CV::Random() - CV::Constant(1), CV::Random() + CV::Constant(1)); |
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else |
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idx = model.addJoint(model.getJointId(parent_name), joint, placement, name + "_joint"); |
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model.addJointFrame(idx); |
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model.appendBodyToJoint(idx, Inertia::Random(), SE3::Identity()); |
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model.addBodyFrame(name + "_body", idx); |
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} |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_centroidal_derivatives) |
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{ |
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pinocchio::Model model; |
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pinocchio::buildModels::humanoidRandom(model); |
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const std::string parent_name = model.names.back(); |
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const std::string joint_name = "ee_spherical_joint"; |
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addJointAndBody(model, pinocchio::JointModelSpherical(), parent_name, joint_name); |
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pinocchio::Data data(model), data_ref(model); |
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model.lowerPositionLimit.head<7>().fill(-1.); |
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model.upperPositionLimit.head<7>().fill(1.); |
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Eigen::VectorXd q = pinocchio::randomConfiguration(model); |
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Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv); |
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Eigen::VectorXd a = Eigen::VectorXd::Random(model.nv); |
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pinocchio::Data::Matrix6x dh_dq(6, model.nv), dhdot_dq(6, model.nv), dhdot_dv(6, model.nv), |
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dhdot_da(6, model.nv); |
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pinocchio::computeCentroidalDynamicsDerivatives( |
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model, data, q, v, a, dh_dq, dhdot_dq, dhdot_dv, dhdot_da); |
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pinocchio::ccrba(model, data_ref, q, v); |
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for (size_t k = 0; k < (size_t)model.njoints; ++k) |
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{ |
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BOOST_CHECK(data.oMi[k].isApprox(data_ref.oMi[k])); |
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BOOST_CHECK(data.oYcrb[k].isApprox(data_ref.oYcrb[k])); |
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} |
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BOOST_CHECK(dhdot_da.isApprox(data_ref.Ag)); |
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pinocchio::computeCentroidalMomentumTimeVariation(model, data_ref, q, v, a); |
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for (size_t k = 1; k < (size_t)model.njoints; ++k) |
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{ |
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BOOST_CHECK(data.v[k].isApprox(data_ref.v[k])); |
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BOOST_CHECK(data.ov[k].isApprox(data.oMi[k].act(data_ref.v[k]))); |
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BOOST_CHECK(data.oa[k].isApprox(data.oMi[k].act(data_ref.a[k]))); |
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BOOST_CHECK(data.oh[k].isApprox(data.oMi[k].act(data_ref.h[k]))); |
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} |
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BOOST_CHECK(data.mass[0] == data_ref.mass[0]); |
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BOOST_CHECK(data.com[0].isApprox(data_ref.com[0])); |
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BOOST_CHECK(data.oh[0].isApprox(data_ref.h[0])); |
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BOOST_CHECK(data.of[0].isApprox(data_ref.f[0])); |
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BOOST_CHECK(data.hg.isApprox(data_ref.hg)); |
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BOOST_CHECK(data.dhg.isApprox(data_ref.dhg)); |
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BOOST_CHECK(data.Ag.isApprox(data_ref.Ag)); |
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pinocchio::Data data_fd(model); |
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const double eps = 1e-8; |
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const pinocchio::Force dhg = |
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pinocchio::computeCentroidalMomentumTimeVariation(model, data_fd, q, v, a); |
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const pinocchio::Force hg = data_fd.hg; |
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BOOST_CHECK(data.hg.isApprox(data_ref.hg)); |
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// Check dhdot_dq and dh_dq with finite differences |
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Eigen::VectorXd q_plus(model.nq, 1); |
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Eigen::VectorXd v_eps(model.nv, 1); |
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v_eps.setZero(); |
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pinocchio::Data::Matrix6x dhdot_dq_fd(6, model.nv); |
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pinocchio::Data::Matrix6x dh_dq_fd(6, model.nv); |
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for (Eigen::DenseIndex k = 0; k < model.nv; ++k) |
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{ |
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v_eps[k] = eps; |
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q_plus = pinocchio::integrate(model, q, v_eps); |
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const pinocchio::Force & dhg_plus = |
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pinocchio::computeCentroidalMomentumTimeVariation(model, data_fd, q_plus, v, a); |
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const pinocchio::Force hg_plus = data_fd.hg; |
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dhdot_dq_fd.col(k) = (dhg_plus - dhg).toVector() / eps; |
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dh_dq_fd.col(k) = (hg_plus - hg).toVector() / eps; |
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v_eps[k] = 0.; |
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} |
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BOOST_CHECK(dhdot_dq.isApprox(dhdot_dq_fd, sqrt(eps))); |
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BOOST_CHECK(dh_dq.isApprox(dh_dq_fd, sqrt(eps))); |
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// Check dhdot_dv with finite differences |
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Eigen::VectorXd v_plus(v); |
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pinocchio::Data::Matrix6x dhdot_dv_fd(6, model.nv); |
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for (Eigen::DenseIndex k = 0; k < model.nv; ++k) |
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{ |
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v_plus[k] += eps; |
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const pinocchio::Force & dhg_plus = |
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pinocchio::computeCentroidalMomentumTimeVariation(model, data_fd, q, v_plus, a); |
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dhdot_dv_fd.col(k) = (dhg_plus - dhg).toVector() / eps; |
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v_plus[k] -= eps; |
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} |
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BOOST_CHECK(dhdot_dv.isApprox(dhdot_dv_fd, sqrt(eps))); |
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// Check dhdot_da with finite differences |
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Eigen::VectorXd a_plus(a); |
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pinocchio::Data::Matrix6x dhdot_da_fd(6, model.nv); |
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for (Eigen::DenseIndex k = 0; k < model.nv; ++k) |
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{ |
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a_plus[k] += eps; |
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const pinocchio::Force & dhg_plus = |
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pinocchio::computeCentroidalMomentumTimeVariation(model, data_fd, q, v, a_plus); |
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dhdot_da_fd.col(k) = (dhg_plus - dhg).toVector() / eps; |
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a_plus[k] -= eps; |
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} |
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BOOST_CHECK(dhdot_da.isApprox(dhdot_da_fd, sqrt(eps))); |
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pinocchio::computeRNEADerivatives(model, data_ref, q, v, a); |
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BOOST_CHECK(data.dAdv.isApprox(data_ref.dAdv)); |
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BOOST_CHECK(data.dAdq.isApprox(data_ref.dAdq)); |
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BOOST_CHECK(data.J.isApprox(data_ref.J)); |
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BOOST_CHECK(data.dJ.isApprox(data_ref.dJ)); |
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BOOST_CHECK(data.dVdq.isApprox(data_ref.dVdq)); |
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pinocchio::computeCentroidalMap(model, data_ref, q); |
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BOOST_CHECK(data.Ag.isApprox(data_ref.Ag)); |
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} |
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BOOST_AUTO_TEST_CASE(test_retrieve_centroidal_derivatives_fromRNEA) |
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{ |
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pinocchio::Model model; |
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pinocchio::buildModels::humanoidRandom(model); |
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pinocchio::Data data(model), data_ref(model); |
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model.lowerPositionLimit.head<7>().fill(-1.); |
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model.upperPositionLimit.head<7>().fill(1.); |
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Eigen::VectorXd q = pinocchio::randomConfiguration(model); |
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Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv); |
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Eigen::VectorXd a = Eigen::VectorXd::Random(model.nv); |
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pinocchio::Data::Matrix6x dh_dq(6, model.nv), dhdot_dq(6, model.nv), dhdot_dv(6, model.nv), |
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dhdot_da(6, model.nv); |
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pinocchio::Data::Matrix6x dh_dq_ref(6, model.nv), dhdot_dq_ref(6, model.nv), |
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dhdot_dv_ref(6, model.nv), dhdot_da_ref(6, model.nv); |
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pinocchio::computeCentroidalDynamicsDerivatives( |
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model, data_ref, q, v, a, dh_dq_ref, dhdot_dq_ref, dhdot_dv_ref, dhdot_da_ref); |
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pinocchio::computeRNEADerivatives(model, data, q, v, a); |
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pinocchio::getCentroidalDynamicsDerivatives(model, data, dh_dq, dhdot_dq, dhdot_dv, dhdot_da); |
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BOOST_CHECK(data.J.isApprox(data_ref.J)); |
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for (pinocchio::Model::JointIndex k = 1; k < (pinocchio::Model::JointIndex)model.njoints; ++k) |
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{ |
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BOOST_CHECK(data.oYcrb[k].isApprox(data_ref.oYcrb[k])); |
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pinocchio::Force force_ref = data_ref.of[k]; |
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pinocchio::Force gravity_contribution = data.oYcrb[k] * (-model.gravity); |
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pinocchio::Force force = data.of[k] - gravity_contribution; |
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BOOST_CHECK(force.isApprox(force_ref)); |
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} |
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BOOST_CHECK(data.com[0].isApprox(data_ref.com[0])); |
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BOOST_CHECK(data.hg.isApprox(data_ref.hg)); |
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BOOST_CHECK(data.dhg.isApprox(data_ref.dhg)); |
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BOOST_CHECK(data.Fcrb[0].isApprox(data_ref.dFdq)); |
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BOOST_CHECK(data.dFdv.isApprox(data_ref.dFdv)); |
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BOOST_CHECK(data.dFda.isApprox(data_ref.dFda)); |
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BOOST_CHECK(dh_dq.isApprox(dh_dq_ref)); |
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BOOST_CHECK(dhdot_dq.isApprox(dhdot_dq_ref)); |
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BOOST_CHECK(dhdot_dv.isApprox(dhdot_dv_ref)); |
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BOOST_CHECK(dhdot_da.isApprox(dhdot_da_ref)); |
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} |
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BOOST_AUTO_TEST_CASE(test_retrieve_centroidal_derivatives_fromABA) |
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{ |
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pinocchio::Model model; |
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pinocchio::buildModels::humanoidRandom(model); |
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pinocchio::Data data(model), data_ref(model), data_rnea(model); |
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model.lowerPositionLimit.head<7>().fill(-1.); |
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model.upperPositionLimit.head<7>().fill(1.); |
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Eigen::VectorXd q = pinocchio::randomConfiguration(model); |
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Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv); |
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Eigen::VectorXd a = Eigen::VectorXd::Random(model.nv); |
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pinocchio::Data::Matrix6x dh_dq(6, model.nv), dhdot_dq(6, model.nv), dhdot_dv(6, model.nv), |
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dhdot_da(6, model.nv); |
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pinocchio::Data::Matrix6x dh_dq_ref(6, model.nv), dhdot_dq_ref(6, model.nv), |
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dhdot_dv_ref(6, model.nv), dhdot_da_ref(6, model.nv); |
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pinocchio::computeCentroidalDynamicsDerivatives( |
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model, data_ref, q, v, a, dh_dq_ref, dhdot_dq_ref, dhdot_dv_ref, dhdot_da_ref); |
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Eigen::VectorXd tau = rnea(model, data_rnea, q, v, a); |
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pinocchio::computeABADerivatives(model, data, q, v, tau); |
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pinocchio::computeRNEADerivatives(model, data_rnea, q, v, a); |
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pinocchio::getCentroidalDynamicsDerivatives(model, data, dh_dq, dhdot_dq, dhdot_dv, dhdot_da); |
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BOOST_CHECK(data.J.isApprox(data_ref.J)); |
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BOOST_CHECK(data.dVdq.isApprox(data_rnea.dVdq)); |
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BOOST_CHECK(data.dAdq.isApprox(data_rnea.dAdq)); |
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BOOST_CHECK(data.dAdv.isApprox(data_rnea.dAdv)); |
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BOOST_CHECK(data.dFdq.isApprox(data_rnea.dFdq)); |
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BOOST_CHECK(data.dFdv.isApprox(data_rnea.dFdv)); |
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BOOST_CHECK(data.dFda.isApprox(data_rnea.dFda)); |
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for (pinocchio::Model::JointIndex k = 1; k < (pinocchio::Model::JointIndex)model.njoints; ++k) |
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{ |
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BOOST_CHECK(data.oYcrb[k].isApprox(data_ref.oYcrb[k])); |
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BOOST_CHECK(data.oh[k].isApprox(data_ref.oh[k])); |
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const pinocchio::Force & force_ref = data_ref.of[k]; |
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const pinocchio::Force gravity_contribution = data.oYcrb[k] * (-model.gravity); |
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const pinocchio::Force force = data.of[k] - gravity_contribution; |
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BOOST_CHECK(force.isApprox(force_ref)); |
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} |
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BOOST_CHECK(data.com[0].isApprox(data_ref.com[0])); |
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BOOST_CHECK(data.hg.isApprox(data_ref.hg)); |
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BOOST_CHECK(data.dhg.isApprox(data_ref.dhg)); |
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BOOST_CHECK(data.Fcrb[0].isApprox(data_ref.dFdq)); |
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BOOST_CHECK(data.dFdv.isApprox(data_ref.dFdv)); |
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BOOST_CHECK(data.dFda.isApprox(data_ref.dFda)); |
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BOOST_CHECK(dh_dq.isApprox(dh_dq_ref)); |
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BOOST_CHECK(dhdot_dq.isApprox(dhdot_dq_ref)); |
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✗ |
BOOST_CHECK(dhdot_dv.isApprox(dhdot_dv_ref)); |
| 280 |
|
✗ |
BOOST_CHECK(dhdot_da.isApprox(dhdot_da_ref)); |
| 281 |
|
|
} |
| 282 |
|
|
|
| 283 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
| 284 |
|
|
|