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// |
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// Copyright (c) 2015-2019 CNRS INRIA |
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// |
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#include "pinocchio/multibody/model.hpp" |
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#include "pinocchio/multibody/data.hpp" |
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#include "pinocchio/algorithm/jacobian.hpp" |
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#include "pinocchio/algorithm/joint-configuration.hpp" |
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#include "pinocchio/algorithm/crba.hpp" |
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#include "pinocchio/algorithm/compute-all-terms.hpp" |
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#include "pinocchio/algorithm/rnea.hpp" |
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#include "pinocchio/algorithm/center-of-mass.hpp" |
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#include "pinocchio/utils/timer.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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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_com) |
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{ |
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using namespace Eigen; |
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using namespace pinocchio; |
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pinocchio::Model model; |
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pinocchio::buildModels::humanoidRandom(model); |
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pinocchio::Data data(model); |
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VectorXd q = VectorXd::Ones(model.nq); |
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q.middleRows<4>(3).normalize(); |
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VectorXd v = VectorXd::Ones(model.nv); |
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VectorXd a = VectorXd::Ones(model.nv); |
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crba(model, data, q, Convention::WORLD); |
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/* Test COM against CRBA*/ |
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Vector3d com = centerOfMass(model, data, q); |
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BOOST_CHECK(data.com[0].isApprox(getComFromCrba(model, data), 1e-12)); |
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/* Test COM against Jcom (both use different way to compute the COM). */ |
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com = centerOfMass(model, data, q); |
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jacobianCenterOfMass(model, data, q); |
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BOOST_CHECK(com.isApprox(data.com[0], 1e-12)); |
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/* Test COM against Jcom (both use different way to compute the COM). */ |
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centerOfMass(model, data, q, v, a); |
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BOOST_CHECK(com.isApprox(data.com[0], 1e-12)); |
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/* Test vCoM against nle algorithm without gravity field */ |
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a.setZero(); |
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model.gravity.setZero(); |
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centerOfMass(model, data, q, v, a); |
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nonLinearEffects(model, data, q, v); |
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pinocchio::SE3::Vector3 acom_from_nle(data.nle.head<3>() / data.mass[0]); |
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BOOST_CHECK((data.liMi[1].rotation() * acom_from_nle).isApprox(data.acom[0], 1e-12)); |
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/* Test Jcom against CRBA */ |
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Eigen::MatrixXd Jcom = jacobianCenterOfMass(model, data, q); |
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BOOST_CHECK(data.Jcom.isApprox(getJacobianComFromCrba(model, data), 1e-12)); |
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/* Test CoM velocity againt jacobianCenterOfMass */ |
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BOOST_CHECK((Jcom * v).isApprox(data.vcom[0], 1e-12)); |
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centerOfMass(model, data, q, v); |
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/* Test CoM velocity againt jacobianCenterOfMass */ |
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BOOST_CHECK((Jcom * v).isApprox(data.vcom[0], 1e-12)); |
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// std::cout << "com = [ " << data.com[0].transpose() << " ];" << std::endl; |
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// std::cout << "mass = [ " << data.mass[0] << " ];" << std::endl; |
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// std::cout << "Jcom = [ " << data.Jcom << " ];" << std::endl; |
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// std::cout << "M3 = [ " << data.M.topRows<3>() << " ];" << std::endl; |
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} |
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BOOST_AUTO_TEST_CASE(test_mass) |
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{ |
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using namespace Eigen; |
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using namespace pinocchio; |
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pinocchio::Model model; |
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pinocchio::buildModels::humanoidRandom(model); |
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double mass = computeTotalMass(model); |
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BOOST_CHECK(mass == mass); // checking it is not NaN |
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double mass_check = 0.0; |
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for (size_t i = 1; i < (size_t)(model.njoints); ++i) |
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mass_check += model.inertias[i].mass(); |
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BOOST_CHECK_CLOSE(mass, mass_check, 1e-12); |
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pinocchio::Data data1(model); |
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double mass_data = computeTotalMass(model, data1); |
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BOOST_CHECK(mass_data == mass_data); // checking it is not NaN |
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BOOST_CHECK_CLOSE(mass, mass_data, 1e-12); |
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BOOST_CHECK_CLOSE(data1.mass[0], mass_data, 1e-12); |
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pinocchio::Data data2(model); |
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VectorXd q = VectorXd::Ones(model.nq); |
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q.middleRows<4>(3).normalize(); |
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centerOfMass(model, data2, q); |
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BOOST_CHECK_CLOSE(data2.mass[0], mass, 1e-12); |
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} |
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BOOST_AUTO_TEST_CASE(test_subtree_masses) |
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{ |
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using namespace Eigen; |
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using namespace pinocchio; |
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pinocchio::Model model; |
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pinocchio::buildModels::humanoidRandom(model); |
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pinocchio::Data data1(model); |
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computeSubtreeMasses(model, data1); |
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pinocchio::Data data2(model); |
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VectorXd q = VectorXd::Ones(model.nq); |
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q.middleRows<4>(3).normalize(); |
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centerOfMass(model, data2, q); |
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for (size_t i = 0; i < (size_t)(model.njoints); ++i) |
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{ |
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BOOST_CHECK_CLOSE(data1.mass[i], data2.mass[i], 1e-12); |
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} |
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} |
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// BOOST_AUTO_TEST_CASE ( test_timings ) |
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//{ |
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// using namespace Eigen; |
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// using namespace pinocchio; |
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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); |
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// |
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// long flag = BOOST_BINARY(1111); |
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// PinocchioTicToc timer(PinocchioTicToc::US); |
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// #ifdef NDEBUG |
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// #ifdef _INTENSE_TESTING_ |
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// const size_t NBT = 1000*1000; |
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// #else |
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// const size_t NBT = 10; |
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// #endif |
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// #else |
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// const size_t NBT = 1; |
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// std::cout << "(the time score in debug mode is not relevant) " ; |
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// #endif |
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// |
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// bool verbose = flag & (flag-1) ; // True is two or more binaries of the flag are 1. |
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// if(verbose) std::cout <<"--" << std::endl; |
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// Eigen::VectorXd q = Eigen::VectorXd::Zero(model.nq); |
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// |
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// if( flag >> 0 & 1 ) |
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// { |
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// timer.tic(); |
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// SMOOTH(NBT) |
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// { |
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// centerOfMass(model,data,q); |
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// } |
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// if(verbose) std::cout << "COM =\t"; |
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// timer.toc(std::cout,NBT); |
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// } |
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// |
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// if( flag >> 1 & 1 ) |
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// { |
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// timer.tic(); |
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// SMOOTH(NBT) |
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// { |
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// centerOfMass(model,data,q,false); |
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// } |
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// if(verbose) std::cout << "Without sub-tree =\t"; |
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// timer.toc(std::cout,NBT); |
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// } |
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// |
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// if( flag >> 2 & 1 ) |
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// { |
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// timer.tic(); |
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// SMOOTH(NBT) |
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// { |
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// jacobianCenterOfMass(model,data,q); |
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// } |
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// if(verbose) std::cout << "Jcom =\t"; |
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// timer.toc(std::cout,NBT); |
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// } |
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// } |
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BOOST_AUTO_TEST_CASE(test_subtree_com_jacobian) |
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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::humanoidRandom(model); |
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Data data(model); |
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model.upperPositionLimit.head<3>().fill(1000); |
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model.lowerPositionLimit.head<3>() = -model.upperPositionLimit.head<3>(); |
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VectorXd q = pinocchio::randomConfiguration(model); |
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VectorXd v = VectorXd::Random(model.nv); |
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Data data_ref(model); |
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jacobianCenterOfMass(model, data_ref, q, true); |
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centerOfMass(model, data, q, v); |
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Data::Matrix3x Jcom1(3, model.nv); |
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Jcom1.setZero(); |
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jacobianSubtreeCenterOfMass(model, data, 0, Jcom1); |
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BOOST_CHECK(Jcom1.isApprox(data_ref.Jcom)); |
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centerOfMass(model, data_ref, q, v, true); |
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computeJointJacobians(model, data_ref, q); |
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Data::Matrix3x Jcom_extracted(3, model.nv), Jcom_fd(3, model.nv); |
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Data data_extracted(model), data_fd(model); |
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const double eps = 1e-8; |
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jacobianCenterOfMass(model, data_extracted, q); |
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// Get subtree jacobian and check that it is consistent with the com velocity |
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Data::Matrix3x Jcom(3, model.nv); |
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Jcom.setZero(); |
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for (JointIndex joint_id = 1; joint_id < (JointIndex)model.njoints; joint_id++) |
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{ |
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SE3::Vector3 subtreeComVelocityInWorld_ref = |
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data_ref.oMi[joint_id].rotation() * data_ref.vcom[joint_id]; |
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Jcom.setZero(); |
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data.J.setZero(); |
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jacobianSubtreeCenterOfMass(model, data, joint_id, Jcom); |
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BOOST_CHECK( |
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data.J.middleCols(model.joints[joint_id].idx_v(), data.nvSubtree[joint_id]) |
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.isApprox(data_ref.J.middleCols(model.joints[joint_id].idx_v(), data.nvSubtree[joint_id]))); |
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SE3::Vector3 subtreeComVelocityInWorld = Jcom * v; |
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Jcom_extracted.setZero(); |
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getJacobianSubtreeCenterOfMass(model, data_extracted, joint_id, Jcom_extracted); |
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// Check with finite differences |
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Eigen::VectorXd v_plus(model.nv); |
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v_plus.setZero(); |
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centerOfMass(model, data_fd, q); |
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const SE3::Vector3 com = data_fd.oMi[joint_id].act(data_fd.com[joint_id]); |
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Jcom_fd.setZero(); |
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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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Eigen::VectorXd q_plus = integrate(model, q, v_plus); |
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centerOfMass(model, data_fd, q_plus); |
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const SE3::Vector3 com_plus = data_fd.oMi[joint_id].act(data_fd.com[joint_id]); |
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Jcom_fd.col(k) = (com_plus - com) / eps; |
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v_plus[k] = 0.; |
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} |
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// Eigen::VectorXd q_plus = integrate(model,q,v*eps); |
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// centerOfMass(model,data_fd,q_plus); |
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// const SE3::Vector3 com_plus = data_fd.oMi[joint_id].act(data_fd.com[joint_id]); |
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// |
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// const SE3::Vector3 vcom_subtree_fd = (com_plus - com)/eps; |
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BOOST_CHECK(Jcom.isApprox(Jcom_fd, sqrt(eps))); |
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BOOST_CHECK(Jcom_extracted.isApprox(Jcom_fd, sqrt(eps))); |
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BOOST_CHECK(Jcom_extracted.isApprox(Jcom)); |
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BOOST_CHECK(std::fabs(data.mass[joint_id] - data_ref.mass[joint_id]) <= 1e-12); |
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BOOST_CHECK(data.com[joint_id].isApprox(data_ref.oMi[joint_id].act(data_ref.com[joint_id]))); |
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BOOST_CHECK(subtreeComVelocityInWorld.isApprox(subtreeComVelocityInWorld_ref)); |
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} |
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// Other signatures |
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Data data_other_signature(model); |
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Data::Matrix3x Jcom2(3, model.nv); |
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Jcom2.setZero(); |
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jacobianSubtreeCenterOfMass(model, data_other_signature, q, 0, Jcom2); |
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BOOST_CHECK(Jcom2.isApprox(Jcom1)); |
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jacobianCenterOfMass(model, data, q); |
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Data::Matrix3x Jcom3(3, model.nv); |
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Jcom3.setZero(); |
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getJacobianSubtreeCenterOfMass(model, data, 0, Jcom3); |
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BOOST_CHECK(Jcom3.isApprox(Jcom1)); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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