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// |
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// Copyright (c) 2023 INRIA |
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// |
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#include "pinocchio/multibody/data.hpp" |
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#include "pinocchio/algorithm/constraints/constraints.hpp" |
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#include "pinocchio/algorithm/constraints/constraint-model-generic.hpp" |
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#include "pinocchio/algorithm/constraints/constraint-data-generic.hpp" |
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#include "pinocchio/algorithm/contact-info.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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using namespace pinocchio; |
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using namespace Eigen; |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(contact_variants) |
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{ |
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Model model; |
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buildModels::humanoidRandom(model, true); |
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Data data(model); |
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const SE3 M(SE3::Random()); |
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RigidConstraintModel rcm(CONTACT_3D, model, 0, M); |
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RigidConstraintData rcd(rcm); |
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ConstraintModel::ConstraintModelVariant constraint_model_variant = rcm; |
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ConstraintModel constraint_model(rcm); |
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ConstraintModel constraint_model_equal = rcm; |
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ConstraintData constraint_data = rcm.createData(); |
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} |
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BOOST_AUTO_TEST_CASE(contact_visitors) |
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{ |
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Model model; |
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buildModels::humanoidRandom(model, true); |
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Data data(model); |
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const SE3 M(SE3::Random()); |
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RigidConstraintModel rcm(CONTACT_3D, model, 0, M); |
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RigidConstraintData rcd(rcm); |
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BOOST_CHECK(ConstraintData(rcd) == ConstraintData(rcd)); |
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BOOST_CHECK(ConstraintData(rcd) == rcd); |
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ConstraintModel constraint_model(rcm); |
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// Test create data visitor |
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ConstraintData constraint_data = createData(constraint_model); |
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constraint_data = rcd; |
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// Test calc visitor |
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calc(constraint_model, constraint_data, model, data); |
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rcm.calc(model, data, rcd); |
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BOOST_CHECK(rcd == constraint_data); |
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// Test jacobian visitor |
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Data::MatrixXs jacobian_matrix = Data::Matrix6x::Zero(6, model.nv), |
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jacobian_matrix_ref = Data::Matrix6x::Zero(6, model.nv); |
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jacobian(constraint_model, constraint_data, model, data, jacobian_matrix); |
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rcm.jacobian(model, data, rcd, jacobian_matrix_ref); |
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BOOST_CHECK(jacobian_matrix == jacobian_matrix_ref); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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