GCC Code Coverage Report

Directory: ./
File: unittest/closed-loop-dynamics.cpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 78 78 100.0%
Branches: 215 428 50.2%
Line Branch Exec Source
1 //
2 // Copyright (c) 2020-2022 INRIA
3 //
4
5 #include <iostream>
6
7 #include "pinocchio/algorithm/frames.hpp"
8 #include "pinocchio/algorithm/jacobian.hpp"
9 #include "pinocchio/algorithm/contact-info.hpp"
10 #include "pinocchio/algorithm/proximal.hpp"
11 #include "pinocchio/algorithm/constrained-dynamics.hpp"
12 #include "pinocchio/algorithm/contact-dynamics.hpp"
13 #include "pinocchio/algorithm/joint-configuration.hpp"
14 #include "pinocchio/multibody/sample-models.hpp"
15 #include "pinocchio/spatial/classic-acceleration.hpp"
16 #include "pinocchio/spatial/explog.hpp"
17
18 #include <boost/test/unit_test.hpp>
19 #include <boost/utility/binary.hpp>
20
21 BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
22
23 using namespace pinocchio;
24 using namespace Eigen;
25
26
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 4 BOOST_AUTO_TEST_CASE(closed_loop_constraint_6D_LOCAL)
27 {
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 2 pinocchio::Model model;
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 2 pinocchio::buildModels::humanoidRandom(model, true);
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 2 pinocchio::Data data(model), data_ref(model);
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 2 model.lowerPositionLimit.head<3>().fill(-1.);
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 2 model.upperPositionLimit.head<3>().fill(1.);
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 2 const VectorXd q = randomConfiguration(model);
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 2 const VectorXd v = VectorXd::Random(model.nv);
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 2 const VectorXd tau = VectorXd::Random(model.nv);
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 2 const std::string RF = "rleg6_joint";
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 2 const std::string LF = "lleg6_joint";
41
42 // Contact models and data
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 2 PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel) contact_models;
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 2 PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintData) contact_datas;
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46 RigidConstraintModel ci_RF_LF(
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 2 CONTACT_6D, model, model.getJointId(RF), model.getJointId(LF), LOCAL);
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 2 ci_RF_LF.joint1_placement.setRandom();
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 2 ci_RF_LF.joint2_placement.setRandom();
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 2 contact_models.push_back(ci_RF_LF);
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 2 contact_datas.push_back(RigidConstraintData(ci_RF_LF));
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53 2 Eigen::DenseIndex constraint_dim = 0;
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 4 for (size_t k = 0; k < contact_models.size(); ++k)
55 2 constraint_dim += contact_models[k].size();
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57 2 const double mu0 = 0.;
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 2 ProximalSettings prox_settings(1e-12, mu0, 1);
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 2 Eigen::MatrixXd J_ref(constraint_dim, model.nv);
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 2 J_ref.setZero();
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 2 computeAllTerms(model, data_ref, q, v);
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 2 data_ref.M.triangularView<Eigen::StrictlyLower>() =
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 4 data_ref.M.transpose().triangularView<Eigen::StrictlyLower>();
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 2 Data::Matrix6x J_RF_local(6, model.nv), J_LF_local(6, model.nv);
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 2 J_RF_local.setZero();
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 2 J_LF_local.setZero();
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 2 getFrameJacobian(
71 model, data_ref, model.getJointId(RF), ci_RF_LF.joint1_placement, LOCAL, J_RF_local);
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 2 getFrameJacobian(
73 model, data_ref, model.getJointId(LF), ci_RF_LF.joint2_placement, LOCAL, J_LF_local);
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 2 const SE3 oMc1_ref = data_ref.oMi[ci_RF_LF.joint1_id] * ci_RF_LF.joint1_placement;
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 2 const SE3 oMc2_ref = data_ref.oMi[ci_RF_LF.joint2_id] * ci_RF_LF.joint2_placement;
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 2 const SE3 c1Mc2_ref = oMc1_ref.actInv(oMc2_ref);
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 2 J_ref = J_RF_local - c1Mc2_ref.toActionMatrix() * J_LF_local;
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 2 Eigen::VectorXd rhs_ref(constraint_dim);
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 2 const Motion vc1_ref = ci_RF_LF.joint1_placement.actInv(data_ref.v[ci_RF_LF.joint1_id]);
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 2 const Motion vc2_ref = ci_RF_LF.joint2_placement.actInv(data_ref.v[ci_RF_LF.joint2_id]);
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 2 const Motion constraint_velocity_error_ref = vc1_ref - c1Mc2_ref.act(vc2_ref);
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 2 BOOST_CHECK(constraint_velocity_error_ref.isApprox(Motion(J_ref * v)));
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 2 const Motion ac1_ref = ci_RF_LF.joint1_placement.actInv(data_ref.a[ci_RF_LF.joint1_id]);
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 2 const Motion ac2_ref = ci_RF_LF.joint2_placement.actInv(data_ref.a[ci_RF_LF.joint2_id]);
90 const Motion constraint_acceleration_error_ref =
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 2 ac1_ref - c1Mc2_ref.act(ac2_ref) + constraint_velocity_error_ref.cross(c1Mc2_ref.act(vc2_ref));
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 2 rhs_ref.segment<6>(0) = constraint_acceleration_error_ref.toVector();
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94 Eigen::MatrixXd KKT_matrix_ref =
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 2 Eigen::MatrixXd::Zero(model.nv + constraint_dim, model.nv + constraint_dim);
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 2 KKT_matrix_ref.bottomRightCorner(model.nv, model.nv) = data_ref.M;
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 2 KKT_matrix_ref.topRightCorner(constraint_dim, model.nv) = J_ref;
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 2 KKT_matrix_ref.bottomLeftCorner(model.nv, constraint_dim) = J_ref.transpose();
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100 PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
101 PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
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 2 forwardDynamics(model, data_ref, q, v, tau, J_ref, rhs_ref, mu0);
103 PINOCCHIO_COMPILER_DIAGNOSTIC_POP
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 2 forwardKinematics(model, data_ref, q, v, data_ref.ddq);
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 2 BOOST_CHECK((J_ref * data_ref.ddq + rhs_ref).isZero());
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 2 initConstraintDynamics(model, data, contact_models);
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 2 constraintDynamics(model, data, q, v, tau, contact_models, contact_datas, prox_settings);
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 2 BOOST_CHECK((J_ref * data.ddq + rhs_ref).isZero());
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 2 BOOST_CHECK(data_ref.ddq.isApprox(data.ddq));
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 2 const Eigen::MatrixXd KKT_matrix = data.contact_chol.matrix();
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 2 BOOST_CHECK(KKT_matrix.isApprox(KKT_matrix_ref));
118
119 // Check with finite differences the error computations
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 2 Data data_plus(model);
121 2 const double dt = 1e-8;
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 2 const Eigen::VectorXd q_plus = integrate(model, q, (v * dt).eval());
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 2 forwardKinematics(model, data_plus, q_plus, v, Eigen::VectorXd::Zero(model.nv));
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 2 const SE3 oMc1_plus_ref = data_plus.oMi[ci_RF_LF.joint1_id] * ci_RF_LF.joint1_placement;
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 2 const SE3 oMc2_plus_ref = data_plus.oMi[ci_RF_LF.joint2_id] * ci_RF_LF.joint2_placement;
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 2 const SE3 c1Mc2_plus_ref = oMc1_plus_ref.actInv(oMc2_plus_ref);
129
130 // Position level
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 2 BOOST_CHECK(contact_datas[0].c1Mc2.isApprox(c1Mc2_ref));
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133 // Velocity level
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 2 BOOST_CHECK(contact_datas[0].contact1_velocity.isApprox(vc1_ref));
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 2 BOOST_CHECK(contact_datas[0].contact2_velocity.isApprox(vc2_ref));
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137 const Motion constraint_velocity_error_fd =
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 2 -c1Mc2_ref.act(log6(c1Mc2_ref.actInv(c1Mc2_plus_ref))) / dt;
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 2 BOOST_CHECK(constraint_velocity_error_ref.isApprox(constraint_velocity_error_fd, math::sqrt(dt)));
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 2 BOOST_CHECK(contact_datas[0].contact_velocity_error.isApprox(constraint_velocity_error_ref));
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142 // Acceleration level
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 2 const Motion vc1_plus_ref = ci_RF_LF.joint1_placement.actInv(data_plus.v[ci_RF_LF.joint1_id]);
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 2 const Motion vc2_plus_ref = ci_RF_LF.joint2_placement.actInv(data_plus.v[ci_RF_LF.joint2_id]);
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 2 const Motion constraint_velocity_error_plus_ref = vc1_plus_ref - c1Mc2_plus_ref.act(vc2_plus_ref);
146 const Motion constraint_acceleration_error_fd =
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 2 (constraint_velocity_error_plus_ref - constraint_velocity_error_ref) / dt;
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 2 BOOST_CHECK(
149 constraint_acceleration_error_ref.isApprox(constraint_acceleration_error_fd, math::sqrt(dt)));
150 2 }
151
152 BOOST_AUTO_TEST_SUITE_END()
153