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// |
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// Copyright (c) 2015-2021 CNRS INRIA |
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// |
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#include "pinocchio/spatial/fwd.hpp" |
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#include "pinocchio/spatial/se3.hpp" |
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#include "pinocchio/multibody/visitor.hpp" |
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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/crba.hpp" |
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#include "pinocchio/algorithm/centroidal.hpp" |
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#include "pinocchio/algorithm/rnea.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 "pinocchio/multibody/sample-models.hpp" |
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#include "pinocchio/utils/timer.hpp" |
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#include <boost/test/unit_test.hpp> |
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using namespace pinocchio; |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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void run_test(const Model & model, const Eigen::VectorXd & q, const Eigen::VectorXd & v) |
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{ |
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pinocchio::Data data(model); |
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pinocchio::Data data_other(model); |
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computeAllTerms(model, data, q, v); |
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nonLinearEffects(model, data_other, q, v); |
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crba(model, data_other, q, Convention::WORLD); |
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getJacobianComFromCrba(model, data_other); |
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computeJointJacobiansTimeVariation(model, data_other, q, v); |
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centerOfMass(model, data_other, q, v, true); |
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computeKineticEnergy(model, data_other, q, v); |
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computePotentialEnergy(model, data_other, q); |
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dccrba(model, data_other, q, v); |
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computeGeneralizedGravity(model, data_other, q); |
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BOOST_CHECK(data.nle.isApprox(data_other.nle)); |
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BOOST_CHECK(Eigen::MatrixXd(data.M.triangularView<Eigen::Upper>()) |
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.isApprox(Eigen::MatrixXd(data_other.M.triangularView<Eigen::Upper>()))); |
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BOOST_CHECK(data.J.isApprox(data_other.J)); |
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BOOST_CHECK(data.dJ.isApprox(data_other.dJ)); |
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BOOST_CHECK(data.Jcom.isApprox(data_other.Jcom)); |
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BOOST_CHECK(data.Ag.isApprox(data_other.Ag)); |
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BOOST_CHECK(data.dAg.isApprox(data_other.dAg)); |
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BOOST_CHECK(data.hg.isApprox(data_other.hg)); |
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BOOST_CHECK(data.Ig.isApprox(data_other.Ig)); |
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BOOST_CHECK(data.g.isApprox(data_other.g)); |
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for (int k = 0; k < model.njoints; ++k) |
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{ |
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BOOST_CHECK(data.com[(size_t)k].isApprox(data_other.com[(size_t)k])); |
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BOOST_CHECK(data.vcom[(size_t)k].isApprox(data_other.vcom[(size_t)k])); |
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BOOST_CHECK_CLOSE(data.mass[(size_t)k], data_other.mass[(size_t)k], 1e-12); |
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} |
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BOOST_CHECK_CLOSE(data.kinetic_energy, data_other.kinetic_energy, 1e-12); |
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BOOST_CHECK_CLOSE(data.potential_energy, data_other.potential_energy, 1e-12); |
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} |
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BOOST_AUTO_TEST_CASE(test_against_algo) |
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{ |
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using namespace Eigen; |
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pinocchio::Model model; |
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buildModels::humanoidRandom(model); |
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VectorXd q(VectorXd::Random(model.nq)); |
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VectorXd v(VectorXd::Random(model.nv)); |
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// ------- |
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q.setZero(); |
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v.setZero(); |
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run_test(model, q, v); |
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// ------- |
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q.setZero(); |
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v.setOnes(); |
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run_test(model, q, v); |
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// ------- |
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q.setOnes(); |
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q.segment<4>(3).normalize(); |
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v.setOnes(); |
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run_test(model, q, v); |
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// ------- |
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q.setRandom(); |
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q.segment<4>(3).normalize(); |
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v.setRandom(); |
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run_test(model, q, v); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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