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// |
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// Copyright(c) 2018-2020 CNRS INRIA |
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// |
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#include "pinocchio/algorithm/copy.hpp" |
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#include "pinocchio/algorithm/kinematics.hpp" |
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#include "pinocchio/algorithm/rnea.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 <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_data_copy) |
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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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model.upperPositionLimit.head<3>().fill(100); |
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model.upperPositionLimit.segment<4>(3).setOnes(); |
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model.lowerPositionLimit.head<7>() = -model.upperPositionLimit.head<7>(); |
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VectorXd q(model.nq); |
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q = randomConfiguration(model); |
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VectorXd v(VectorXd::Random(model.nv)); |
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VectorXd a(VectorXd::Random(model.nv)); |
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Data data_ref(model), data(model); |
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forwardKinematics(model, data_ref, q, v, a); |
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rnea(model, data_ref, q, v, a); // for a_gf to be initialized |
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// Check zero order kinematic quantities |
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copy(model, data_ref, data, POSITION); |
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for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i) |
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{ |
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BOOST_CHECK(data.oMi[i] == data_ref.oMi[i]); |
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} |
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// Check first order kinematic quantities |
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copy(model, data_ref, data, VELOCITY); |
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for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i) |
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{ |
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BOOST_CHECK(data.oMi[i] == data_ref.oMi[i]); |
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BOOST_CHECK(data.v[i] == data_ref.v[i]); |
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} |
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// Check second order kinematic quantities |
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copy(model, data_ref, data, ACCELERATION); |
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for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i) |
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{ |
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BOOST_CHECK(data.oMi[i] == data_ref.oMi[i]); |
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BOOST_CHECK(data.v[i] == data_ref.v[i]); |
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BOOST_CHECK(data.a[i] == data_ref.a[i]); |
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BOOST_CHECK(data.a_gf[i] == data_ref.a_gf[i]); |
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} |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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