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// |
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// Copyright (c) 2019-2021 INRIA |
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// |
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#include "pinocchio/algorithm/aba.hpp" |
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#include "pinocchio/algorithm/rnea.hpp" |
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#include "pinocchio/algorithm/frames.hpp" |
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#include "pinocchio/algorithm/jacobian.hpp" |
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#include "pinocchio/algorithm/centroidal.hpp" |
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#include "pinocchio/algorithm/kinematics.hpp" |
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#include "pinocchio/algorithm/contact-info.hpp" |
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#include "pinocchio/algorithm/contact-jacobian.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 "pinocchio/utils/timer.hpp" |
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#include "pinocchio/spatial/classic-acceleration.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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template<typename T> |
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bool within(const T & elt, const std::vector<T> & vec) |
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{ |
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typename std::vector<T>::const_iterator it; |
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it = std::find(vec.begin(), vec.end(), elt); |
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if (it != vec.end()) |
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return true; |
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else |
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return false; |
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} |
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template<typename Matrix> |
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bool within(const typename Matrix::Scalar & elt, const Eigen::MatrixBase<Matrix> & mat) |
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{ |
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for (DenseIndex i = 0; i < mat.rows(); ++i) |
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for (DenseIndex j = 0; j < mat.rows(); ++j) |
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{ |
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if (elt == mat(i, j)) |
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return true; |
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} |
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return false; |
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} |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(contact_models) |
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{ |
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pinocchio::Model model; |
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pinocchio::buildModels::humanoidRandom(model, true); |
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// Check complete constructor |
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const SE3 M(SE3::Random()); |
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RigidConstraintModel cmodel2(CONTACT_3D, model, 0, M); |
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BOOST_CHECK(cmodel2.type == CONTACT_3D); |
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BOOST_CHECK(cmodel2.joint1_id == 0); |
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BOOST_CHECK(cmodel2.joint1_placement.isApprox(M)); |
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BOOST_CHECK(cmodel2.size() == 3); |
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// Check contructor with two arguments |
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RigidConstraintModel cmodel2prime(CONTACT_3D, model, 0); |
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BOOST_CHECK(cmodel2prime.type == CONTACT_3D); |
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BOOST_CHECK(cmodel2prime.joint1_id == 0); |
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BOOST_CHECK(cmodel2prime.joint1_placement.isIdentity()); |
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BOOST_CHECK(cmodel2prime.size() == 3); |
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// Check default copy constructor |
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RigidConstraintModel cmodel3(cmodel2); |
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BOOST_CHECK(cmodel3 == cmodel2); |
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// Check complete constructor 6D |
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RigidConstraintModel cmodel4(CONTACT_6D, model, 0); |
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BOOST_CHECK(cmodel4.type == CONTACT_6D); |
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BOOST_CHECK(cmodel4.joint1_id == 0); |
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BOOST_CHECK(cmodel4.joint1_placement.isIdentity()); |
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BOOST_CHECK(cmodel4.size() == 6); |
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} |
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void check_A1_and_A2( |
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const Model & model, |
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const Data & data, |
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const RigidConstraintModel & cmodel, |
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RigidConstraintData & cdata) |
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{ |
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const RigidConstraintModel::Matrix36 A1 = cmodel.getA1(cdata); |
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const RigidConstraintModel::Matrix36 A1_ref = cdata.oMc1.toActionMatrixInverse().topRows<3>(); |
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BOOST_CHECK(A1.isApprox(A1_ref)); |
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const RigidConstraintModel::Matrix36 A2 = cmodel.getA2(cdata); |
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const RigidConstraintModel::Matrix36 A2_ref = |
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-cdata.c1Mc2.rotation() * cdata.oMc2.toActionMatrixInverse().topRows<3>(); |
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BOOST_CHECK(A2.isApprox(A2_ref)); |
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// Check Jacobian |
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Data::MatrixXs J_ref(3, model.nv); |
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J_ref.setZero(); |
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getConstraintJacobian(model, data, cmodel, cdata, J_ref); |
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const Data::Matrix6x J1 = getJointJacobian(model, data, cmodel.joint1_id, WORLD); |
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const Data::Matrix6x J2 = getJointJacobian(model, data, cmodel.joint2_id, WORLD); |
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const Data::Matrix3x J = A1 * J1 + A2 * J2; |
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BOOST_CHECK(J.isApprox(J_ref)); |
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// Check Jacobian matrix product |
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const Eigen::DenseIndex m = 40; |
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const Data::MatrixXs mat = Data::MatrixXs::Random(model.nv, m); |
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Data::MatrixXs res(cmodel.size(), m); |
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res.setZero(); |
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cmodel.jacobian_matrix_product(model, data, cdata, mat, res); |
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const Data::MatrixXs res_ref = J_ref * mat; |
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BOOST_CHECK(res.isApprox(res_ref)); |
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} |
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BOOST_AUTO_TEST_CASE(contact_models_sparsity_and_jacobians) |
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{ |
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pinocchio::Model model; |
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pinocchio::buildModels::humanoidRandom(model, true); |
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Data data(model); |
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model.lowerPositionLimit.head<3>().fill(-1.); |
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model.upperPositionLimit.head<3>().fill(1.); |
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VectorXd q = randomConfiguration(model); |
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computeJointJacobians(model, data, q); |
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const std::string RF = "rleg6_joint"; |
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const std::string LF = "lleg6_joint"; |
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// 6D - LOCAL |
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{ |
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RigidConstraintModel cm_RF_LOCAL(CONTACT_6D, model, model.getJointId(RF), SE3::Random(), LOCAL); |
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RigidConstraintData cd_RF_LOCAL(cm_RF_LOCAL); |
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RigidConstraintModel cm_LF_LOCAL(CONTACT_6D, model, model.getJointId(LF), SE3::Random(), LOCAL); |
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RigidConstraintData cd_LF_LOCAL(cm_LF_LOCAL); |
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RigidConstraintModel clm_RF_LF_LOCAL( |
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CONTACT_6D, model, cm_RF_LOCAL.joint1_id, cm_RF_LOCAL.joint1_placement, cm_LF_LOCAL.joint1_id, |
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cm_LF_LOCAL.joint1_placement, LOCAL); |
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RigidConstraintData cld_RF_LF_LOCAL(clm_RF_LF_LOCAL); |
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Data::Matrix6x J_RF_LOCAL(6, model.nv); |
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J_RF_LOCAL.setZero(); |
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getFrameJacobian( |
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model, data, cm_RF_LOCAL.joint1_id, cm_RF_LOCAL.joint1_placement, cm_RF_LOCAL.reference_frame, |
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J_RF_LOCAL); |
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Data::Matrix6x J_LF_LOCAL(6, model.nv); |
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J_LF_LOCAL.setZero(); |
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getFrameJacobian( |
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model, data, cm_LF_LOCAL.joint1_id, cm_LF_LOCAL.joint1_placement, cm_LF_LOCAL.reference_frame, |
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J_LF_LOCAL); |
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for (DenseIndex k = 0; k < model.nv; ++k) |
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{ |
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BOOST_CHECK(J_RF_LOCAL.col(k).isZero() != cm_RF_LOCAL.colwise_joint1_sparsity[k]); |
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BOOST_CHECK(J_LF_LOCAL.col(k).isZero() != cm_LF_LOCAL.colwise_joint1_sparsity[k]); |
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} |
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BOOST_CHECK(cm_RF_LOCAL.colwise_joint2_sparsity.isZero()); |
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BOOST_CHECK(cm_LF_LOCAL.colwise_joint2_sparsity.isZero()); |
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const SE3 oMc1 = data.oMi[clm_RF_LF_LOCAL.joint1_id] * clm_RF_LF_LOCAL.joint1_placement; |
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const SE3 oMc2 = data.oMi[clm_RF_LF_LOCAL.joint2_id] * clm_RF_LF_LOCAL.joint2_placement; |
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const SE3 c1Mc2 = oMc1.actInv(oMc2); |
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const Data::Matrix6x J_clm_LOCAL = J_RF_LOCAL - c1Mc2.toActionMatrix() * J_LF_LOCAL; |
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for (DenseIndex k = 0; k < model.nv; ++k) |
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{ |
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BOOST_CHECK(J_clm_LOCAL.col(k).isZero() != within(k, clm_RF_LF_LOCAL.colwise_span_indexes)); |
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} |
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// Check Jacobian |
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Data::MatrixXs J_RF_LOCAL_sparse(6, model.nv); |
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J_RF_LOCAL_sparse.setZero(); // TODO: change input type when all the API would be refactorized |
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// with CRTP on contact constraints |
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getConstraintJacobian(model, data, cm_RF_LOCAL, cd_RF_LOCAL, J_RF_LOCAL_sparse); |
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BOOST_CHECK(J_RF_LOCAL.isApprox(J_RF_LOCAL_sparse)); |
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Data::MatrixXs J_LF_LOCAL_sparse(6, model.nv); |
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J_LF_LOCAL_sparse.setZero(); // TODO: change input type when all the API would be refactorized |
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// with CRTP on contact constraints |
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getConstraintJacobian(model, data, cm_LF_LOCAL, cd_LF_LOCAL, J_LF_LOCAL_sparse); |
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BOOST_CHECK(J_LF_LOCAL.isApprox(J_LF_LOCAL_sparse)); |
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Data::MatrixXs J_clm_LOCAL_sparse(6, model.nv); |
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J_clm_LOCAL_sparse.setZero(); // TODO: change input type when all the API would be refactorized |
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// with CRTP on contact constraints |
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getConstraintJacobian(model, data, clm_RF_LF_LOCAL, cld_RF_LF_LOCAL, J_clm_LOCAL_sparse); |
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BOOST_CHECK(J_clm_LOCAL.isApprox(J_clm_LOCAL_sparse)); |
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} |
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// 6D - LOCAL_WORLD_ALIGNED |
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{ |
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RigidConstraintModel cm_RF_LWA( |
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CONTACT_6D, model, model.getJointId(RF), SE3::Random(), LOCAL_WORLD_ALIGNED); |
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RigidConstraintData cd_RF_LWA(cm_RF_LWA); |
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RigidConstraintModel cm_LF_LWA( |
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CONTACT_6D, model, model.getJointId(LF), SE3::Random(), LOCAL_WORLD_ALIGNED); |
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RigidConstraintData cd_LF_LWA(cm_LF_LWA); |
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RigidConstraintModel clm_RF_LF_LWA( |
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CONTACT_6D, model, cm_RF_LWA.joint1_id, cm_RF_LWA.joint1_placement, cm_LF_LWA.joint1_id, |
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cm_LF_LWA.joint1_placement, LOCAL_WORLD_ALIGNED); |
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RigidConstraintData cld_RF_LF_LWA(clm_RF_LF_LWA); |
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Data::Matrix6x J_RF_LOCAL(6, model.nv); |
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J_RF_LOCAL.setZero(); |
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getFrameJacobian( |
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model, data, cm_RF_LWA.joint1_id, cm_RF_LWA.joint1_placement, LOCAL, J_RF_LOCAL); |
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Data::Matrix6x J_LF_LOCAL(6, model.nv); |
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J_LF_LOCAL.setZero(); |
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getFrameJacobian( |
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model, data, cm_LF_LWA.joint1_id, cm_LF_LWA.joint1_placement, LOCAL, J_LF_LOCAL); |
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Data::Matrix6x J_RF_LWA(6, model.nv); |
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J_RF_LWA.setZero(); |
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getFrameJacobian( |
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model, data, cm_RF_LWA.joint1_id, cm_RF_LWA.joint1_placement, LOCAL_WORLD_ALIGNED, J_RF_LWA); |
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Data::Matrix6x J_LF_LWA(6, model.nv); |
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J_LF_LWA.setZero(); |
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getFrameJacobian( |
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model, data, cm_LF_LWA.joint1_id, cm_LF_LWA.joint1_placement, LOCAL_WORLD_ALIGNED, J_LF_LWA); |
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for (DenseIndex k = 0; k < model.nv; ++k) |
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{ |
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BOOST_CHECK(J_RF_LWA.col(k).isZero() != cm_RF_LWA.colwise_joint1_sparsity[k]); |
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BOOST_CHECK(J_LF_LWA.col(k).isZero() != cm_LF_LWA.colwise_joint1_sparsity[k]); |
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} |
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BOOST_CHECK(cm_RF_LWA.colwise_joint2_sparsity.isZero()); |
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BOOST_CHECK(cm_LF_LWA.colwise_joint2_sparsity.isZero()); |
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const SE3 oMc1 = data.oMi[clm_RF_LF_LWA.joint1_id] * clm_RF_LF_LWA.joint1_placement; |
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const SE3 oMc2 = data.oMi[clm_RF_LF_LWA.joint2_id] * clm_RF_LF_LWA.joint2_placement; |
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const SE3 c1Mc2 = oMc1.actInv(oMc2); |
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const SE3 oMc1_lwa = SE3(oMc1.rotation(), SE3::Vector3::Zero()); |
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const SE3 oMc2_lwa = oMc1_lwa * c1Mc2; |
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const Data::Matrix6x J_clm_LWA = |
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oMc1_lwa.toActionMatrix() * J_RF_LOCAL - oMc2_lwa.toActionMatrix() * J_LF_LOCAL; |
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for (DenseIndex k = 0; k < model.nv; ++k) |
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{ |
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BOOST_CHECK(J_clm_LWA.col(k).isZero() != within(k, clm_RF_LF_LWA.colwise_span_indexes)); |
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} |
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// Check Jacobian |
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Data::MatrixXs J_RF_LWA_sparse(6, model.nv); |
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J_RF_LWA_sparse.setZero(); // TODO: change input type when all the API would be refactorized |
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// with CRTP on contact constraints |
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getConstraintJacobian(model, data, cm_RF_LWA, cd_RF_LWA, J_RF_LWA_sparse); |
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BOOST_CHECK(J_RF_LWA.isApprox(J_RF_LWA_sparse)); |
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Data::MatrixXs J_LF_LWA_sparse(6, model.nv); |
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J_LF_LWA_sparse.setZero(); // TODO: change input type when all the API would be refactorized |
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// with CRTP on contact constraints |
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getConstraintJacobian(model, data, cm_LF_LWA, cd_LF_LWA, J_LF_LWA_sparse); |
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BOOST_CHECK(J_LF_LWA.isApprox(J_LF_LWA_sparse)); |
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Data::MatrixXs J_clm_LWA_sparse(6, model.nv); |
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J_clm_LWA_sparse.setZero(); // TODO: change input type when all the API would be refactorized |
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// with CRTP on contact constraints |
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getConstraintJacobian(model, data, clm_RF_LF_LWA, cld_RF_LF_LWA, J_clm_LWA_sparse); |
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BOOST_CHECK(J_clm_LWA.isApprox(J_clm_LWA_sparse)); |
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} |
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// 3D - LOCAL |
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{ |
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RigidConstraintModel cm_RF_LOCAL(CONTACT_3D, model, model.getJointId(RF), SE3::Random(), LOCAL); |
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RigidConstraintData cd_RF_LOCAL(cm_RF_LOCAL); |
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RigidConstraintModel cm_LF_LOCAL(CONTACT_3D, model, model.getJointId(LF), SE3::Random(), LOCAL); |
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RigidConstraintData cd_LF_LOCAL(cm_LF_LOCAL); |
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RigidConstraintModel clm_RF_LF_LOCAL( |
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CONTACT_3D, model, cm_RF_LOCAL.joint1_id, cm_RF_LOCAL.joint1_placement, cm_LF_LOCAL.joint1_id, |
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|
✗ |
cm_LF_LOCAL.joint1_placement, LOCAL); |
| 281 |
|
✗ |
RigidConstraintData cld_RF_LF_LOCAL(clm_RF_LF_LOCAL); |
| 282 |
|
|
|
| 283 |
|
✗ |
Data::Matrix6x J_RF_LOCAL(6, model.nv); |
| 284 |
|
✗ |
J_RF_LOCAL.setZero(); |
| 285 |
|
✗ |
getFrameJacobian( |
| 286 |
|
|
model, data, cm_RF_LOCAL.joint1_id, cm_RF_LOCAL.joint1_placement, cm_RF_LOCAL.reference_frame, |
| 287 |
|
|
J_RF_LOCAL); |
| 288 |
|
✗ |
Data::Matrix6x J_LF_LOCAL(6, model.nv); |
| 289 |
|
✗ |
J_LF_LOCAL.setZero(); |
| 290 |
|
✗ |
getFrameJacobian( |
| 291 |
|
|
model, data, cm_LF_LOCAL.joint1_id, cm_LF_LOCAL.joint1_placement, cm_LF_LOCAL.reference_frame, |
| 292 |
|
|
J_LF_LOCAL); |
| 293 |
|
|
|
| 294 |
|
✗ |
for (DenseIndex k = 0; k < model.nv; ++k) |
| 295 |
|
|
{ |
| 296 |
|
✗ |
BOOST_CHECK( |
| 297 |
|
|
J_RF_LOCAL.middleRows<3>(SE3::LINEAR).col(k).isZero() |
| 298 |
|
|
!= cm_RF_LOCAL.colwise_joint1_sparsity[k]); |
| 299 |
|
✗ |
BOOST_CHECK( |
| 300 |
|
|
J_LF_LOCAL.middleRows<3>(SE3::LINEAR).col(k).isZero() |
| 301 |
|
|
!= cm_LF_LOCAL.colwise_joint1_sparsity[k]); |
| 302 |
|
|
} |
| 303 |
|
✗ |
BOOST_CHECK(cm_RF_LOCAL.colwise_joint2_sparsity.isZero()); |
| 304 |
|
✗ |
BOOST_CHECK(cm_LF_LOCAL.colwise_joint2_sparsity.isZero()); |
| 305 |
|
|
|
| 306 |
|
✗ |
const SE3 oMc1 = data.oMi[clm_RF_LF_LOCAL.joint1_id] * clm_RF_LF_LOCAL.joint1_placement; |
| 307 |
|
✗ |
const SE3 oMc2 = data.oMi[clm_RF_LF_LOCAL.joint2_id] * clm_RF_LF_LOCAL.joint2_placement; |
| 308 |
|
✗ |
const SE3 c1Mc2 = oMc1.actInv(oMc2); |
| 309 |
|
✗ |
const Data::Matrix3x J_clm_LOCAL = J_RF_LOCAL.middleRows<3>(SE3::LINEAR) |
| 310 |
|
✗ |
- c1Mc2.rotation() * J_LF_LOCAL.middleRows<3>(SE3::LINEAR); |
| 311 |
|
|
|
| 312 |
|
✗ |
for (DenseIndex k = 0; k < model.nv; ++k) |
| 313 |
|
|
{ |
| 314 |
|
✗ |
BOOST_CHECK(J_clm_LOCAL.col(k).isZero(0) != within(k, clm_RF_LF_LOCAL.colwise_span_indexes)); |
| 315 |
|
|
} |
| 316 |
|
|
|
| 317 |
|
|
// Check Jacobian |
| 318 |
|
✗ |
Data::MatrixXs J_RF_LOCAL_sparse(3, model.nv); |
| 319 |
|
✗ |
J_RF_LOCAL_sparse.setZero(); // TODO: change input type when all the API would be refactorized |
| 320 |
|
|
// with CRTP on contact constraints |
| 321 |
|
✗ |
getConstraintJacobian(model, data, cm_RF_LOCAL, cd_RF_LOCAL, J_RF_LOCAL_sparse); |
| 322 |
|
✗ |
BOOST_CHECK(J_RF_LOCAL.middleRows<3>(SE3::LINEAR).isApprox(J_RF_LOCAL_sparse)); |
| 323 |
|
|
|
| 324 |
|
✗ |
Data::MatrixXs J_LF_LOCAL_sparse(3, model.nv); |
| 325 |
|
✗ |
J_LF_LOCAL_sparse.setZero(); // TODO: change input type when all the API would be refactorized |
| 326 |
|
|
// with CRTP on contact constraints |
| 327 |
|
✗ |
getConstraintJacobian(model, data, cm_LF_LOCAL, cd_LF_LOCAL, J_LF_LOCAL_sparse); |
| 328 |
|
✗ |
BOOST_CHECK(J_LF_LOCAL.middleRows<3>(SE3::LINEAR).isApprox(J_LF_LOCAL_sparse)); |
| 329 |
|
|
|
| 330 |
|
✗ |
Data::MatrixXs J_clm_LOCAL_sparse(3, model.nv); |
| 331 |
|
✗ |
J_clm_LOCAL_sparse.setZero(); // TODO: change input type when all the API would be refactorized |
| 332 |
|
|
// with CRTP on contact constraints |
| 333 |
|
✗ |
getConstraintJacobian(model, data, clm_RF_LF_LOCAL, cld_RF_LF_LOCAL, J_clm_LOCAL_sparse); |
| 334 |
|
✗ |
BOOST_CHECK(J_clm_LOCAL.isApprox(J_clm_LOCAL_sparse)); |
| 335 |
|
|
|
| 336 |
|
✗ |
check_A1_and_A2(model, data, cm_RF_LOCAL, cd_RF_LOCAL); |
| 337 |
|
✗ |
check_A1_and_A2(model, data, cm_LF_LOCAL, cd_LF_LOCAL); |
| 338 |
|
✗ |
check_A1_and_A2(model, data, clm_RF_LF_LOCAL, cld_RF_LF_LOCAL); |
| 339 |
|
|
} |
| 340 |
|
|
|
| 341 |
|
|
// 3D - LOCAL_WORLD_ALIGNED |
| 342 |
|
|
{ |
| 343 |
|
|
RigidConstraintModel cm_RF_LWA( |
| 344 |
|
✗ |
CONTACT_3D, model, model.getJointId(RF), SE3::Random(), LOCAL_WORLD_ALIGNED); |
| 345 |
|
✗ |
RigidConstraintData cd_RF_LWA(cm_RF_LWA); |
| 346 |
|
|
RigidConstraintModel cm_LF_LWA( |
| 347 |
|
✗ |
CONTACT_3D, model, model.getJointId(LF), SE3::Random(), LOCAL_WORLD_ALIGNED); |
| 348 |
|
✗ |
RigidConstraintData cd_LF_LWA(cm_LF_LWA); |
| 349 |
|
|
RigidConstraintModel clm_RF_LF_LWA( |
| 350 |
|
|
CONTACT_3D, model, cm_RF_LWA.joint1_id, cm_RF_LWA.joint1_placement, cm_LF_LWA.joint1_id, |
| 351 |
|
✗ |
cm_LF_LWA.joint1_placement, LOCAL_WORLD_ALIGNED); |
| 352 |
|
✗ |
RigidConstraintData cld_RF_LF_LWA(clm_RF_LF_LWA); |
| 353 |
|
|
|
| 354 |
|
✗ |
Data::Matrix6x J_RF_LOCAL(6, model.nv); |
| 355 |
|
✗ |
J_RF_LOCAL.setZero(); |
| 356 |
|
✗ |
getFrameJacobian( |
| 357 |
|
|
model, data, cm_RF_LWA.joint1_id, cm_RF_LWA.joint1_placement, LOCAL, J_RF_LOCAL); |
| 358 |
|
✗ |
Data::Matrix6x J_LF_LOCAL(6, model.nv); |
| 359 |
|
✗ |
J_LF_LOCAL.setZero(); |
| 360 |
|
✗ |
getFrameJacobian( |
| 361 |
|
|
model, data, cm_LF_LWA.joint1_id, cm_LF_LWA.joint1_placement, LOCAL, J_LF_LOCAL); |
| 362 |
|
|
|
| 363 |
|
✗ |
Data::Matrix6x J_RF_LWA(6, model.nv); |
| 364 |
|
✗ |
J_RF_LWA.setZero(); |
| 365 |
|
✗ |
getFrameJacobian( |
| 366 |
|
|
model, data, cm_RF_LWA.joint1_id, cm_RF_LWA.joint1_placement, LOCAL_WORLD_ALIGNED, J_RF_LWA); |
| 367 |
|
✗ |
Data::Matrix6x J_LF_LWA(6, model.nv); |
| 368 |
|
✗ |
J_LF_LWA.setZero(); |
| 369 |
|
✗ |
getFrameJacobian( |
| 370 |
|
|
model, data, cm_LF_LWA.joint1_id, cm_LF_LWA.joint1_placement, LOCAL_WORLD_ALIGNED, J_LF_LWA); |
| 371 |
|
|
|
| 372 |
|
✗ |
for (DenseIndex k = 0; k < model.nv; ++k) |
| 373 |
|
|
{ |
| 374 |
|
✗ |
BOOST_CHECK( |
| 375 |
|
|
J_RF_LWA.middleRows<3>(SE3::LINEAR).col(k).isZero() |
| 376 |
|
|
!= cm_RF_LWA.colwise_joint1_sparsity[k]); |
| 377 |
|
✗ |
BOOST_CHECK( |
| 378 |
|
|
J_LF_LWA.middleRows<3>(SE3::LINEAR).col(k).isZero() |
| 379 |
|
|
!= cm_LF_LWA.colwise_joint1_sparsity[k]); |
| 380 |
|
|
} |
| 381 |
|
✗ |
BOOST_CHECK(cm_RF_LWA.colwise_joint2_sparsity.isZero()); |
| 382 |
|
✗ |
BOOST_CHECK(cm_LF_LWA.colwise_joint2_sparsity.isZero()); |
| 383 |
|
|
|
| 384 |
|
✗ |
const SE3 oMc1 = data.oMi[clm_RF_LF_LWA.joint1_id] * clm_RF_LF_LWA.joint1_placement; |
| 385 |
|
✗ |
const SE3 oMc2 = data.oMi[clm_RF_LF_LWA.joint2_id] * clm_RF_LF_LWA.joint2_placement; |
| 386 |
|
✗ |
const SE3 oMc1_lwa = SE3(oMc1.rotation(), SE3::Vector3::Zero()); |
| 387 |
|
✗ |
const SE3 oMc2_lwa = SE3(oMc2.rotation(), SE3::Vector3::Zero()); |
| 388 |
|
|
const Data::Matrix3x J_clm_LWA = |
| 389 |
|
✗ |
(oMc1_lwa.toActionMatrix() * J_RF_LOCAL - oMc2_lwa.toActionMatrix() * J_LF_LOCAL) |
| 390 |
|
✗ |
.middleRows<3>(Motion::LINEAR); |
| 391 |
|
|
|
| 392 |
|
✗ |
for (DenseIndex k = 0; k < model.nv; ++k) |
| 393 |
|
|
{ |
| 394 |
|
✗ |
BOOST_CHECK(J_clm_LWA.col(k).isZero(0) != within(k, clm_RF_LF_LWA.colwise_span_indexes)); |
| 395 |
|
|
} |
| 396 |
|
|
|
| 397 |
|
|
// Check Jacobian |
| 398 |
|
✗ |
Data::MatrixXs J_RF_LWA_sparse(3, model.nv); |
| 399 |
|
✗ |
J_RF_LWA_sparse.setZero(); // TODO: change input type when all the API would be refactorized |
| 400 |
|
|
// with CRTP on contact constraints |
| 401 |
|
✗ |
getConstraintJacobian(model, data, cm_RF_LWA, cd_RF_LWA, J_RF_LWA_sparse); |
| 402 |
|
✗ |
BOOST_CHECK(J_RF_LWA.middleRows<3>(SE3::LINEAR).isApprox(J_RF_LWA_sparse)); |
| 403 |
|
|
|
| 404 |
|
✗ |
Data::MatrixXs J_LF_LWA_sparse(3, model.nv); |
| 405 |
|
✗ |
J_LF_LWA_sparse.setZero(); // TODO: change input type when all the API would be refactorized |
| 406 |
|
|
// with CRTP on contact constraints |
| 407 |
|
✗ |
getConstraintJacobian(model, data, cm_LF_LWA, cd_LF_LWA, J_LF_LWA_sparse); |
| 408 |
|
✗ |
BOOST_CHECK(J_LF_LWA.middleRows<3>(SE3::LINEAR).isApprox(J_LF_LWA_sparse)); |
| 409 |
|
|
|
| 410 |
|
✗ |
Data::MatrixXs J_clm_LWA_sparse(3, model.nv); |
| 411 |
|
✗ |
J_clm_LWA_sparse.setZero(); // TODO: change input type when all the API would be refactorized |
| 412 |
|
|
// with CRTP on contact constraints |
| 413 |
|
✗ |
getConstraintJacobian(model, data, clm_RF_LF_LWA, cld_RF_LF_LWA, J_clm_LWA_sparse); |
| 414 |
|
✗ |
BOOST_CHECK(J_clm_LWA.isApprox(J_clm_LWA_sparse)); |
| 415 |
|
|
} |
| 416 |
|
|
} |
| 417 |
|
|
|
| 418 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
| 419 |
|
|
|