| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// |
| 2 |
|
|
// Copyright (c) 2015-2023 CNRS INRIA |
| 3 |
|
|
// |
| 4 |
|
|
|
| 5 |
|
|
/* |
| 6 |
|
|
* Test the CRBA algorithm. The code validates both the computation times and |
| 7 |
|
|
* the value by comparing the results of the CRBA with the reconstruction of |
| 8 |
|
|
* the mass matrix using the RNEA. |
| 9 |
|
|
* For a strong timing benchmark, see benchmark/timings. |
| 10 |
|
|
* |
| 11 |
|
|
*/ |
| 12 |
|
|
|
| 13 |
|
|
#ifndef EIGEN_RUNTIME_NO_MALLOC |
| 14 |
|
|
#define EIGEN_RUNTIME_NO_MALLOC |
| 15 |
|
|
#endif |
| 16 |
|
|
|
| 17 |
|
|
#include "pinocchio/multibody/model.hpp" |
| 18 |
|
|
#include "pinocchio/multibody/data.hpp" |
| 19 |
|
|
#include "pinocchio/algorithm/crba.hpp" |
| 20 |
|
|
#include "pinocchio/algorithm/centroidal.hpp" |
| 21 |
|
|
#include "pinocchio/algorithm/rnea.hpp" |
| 22 |
|
|
#include "pinocchio/algorithm/jacobian.hpp" |
| 23 |
|
|
#include "pinocchio/algorithm/center-of-mass.hpp" |
| 24 |
|
|
#include "pinocchio/algorithm/joint-configuration.hpp" |
| 25 |
|
|
#include "pinocchio/multibody/sample-models.hpp" |
| 26 |
|
|
#include "pinocchio/utils/timer.hpp" |
| 27 |
|
|
|
| 28 |
|
|
#include <iostream> |
| 29 |
|
|
|
| 30 |
|
|
#include <boost/test/unit_test.hpp> |
| 31 |
|
|
#include <boost/utility/binary.hpp> |
| 32 |
|
|
|
| 33 |
|
|
template<typename JointModel> |
| 34 |
|
|
static void addJointAndBody( |
| 35 |
|
|
pinocchio::Model & model, |
| 36 |
|
|
const pinocchio::JointModelBase<JointModel> & joint, |
| 37 |
|
|
const std::string & parent_name, |
| 38 |
|
|
const std::string & name, |
| 39 |
|
|
const pinocchio::SE3 placement = pinocchio::SE3::Random(), |
| 40 |
|
|
bool setRandomLimits = true) |
| 41 |
|
|
{ |
| 42 |
|
|
using namespace pinocchio; |
| 43 |
|
|
typedef typename JointModel::ConfigVector_t CV; |
| 44 |
|
|
typedef typename JointModel::TangentVector_t TV; |
| 45 |
|
|
|
| 46 |
|
|
Model::JointIndex idx; |
| 47 |
|
|
|
| 48 |
|
|
if (setRandomLimits) |
| 49 |
|
|
idx = model.addJoint( |
| 50 |
|
|
model.getJointId(parent_name), joint, SE3::Random(), name + "_joint", |
| 51 |
|
|
TV::Random() + TV::Constant(1), TV::Random() + TV::Constant(1), |
| 52 |
|
|
CV::Random() - CV::Constant(1), CV::Random() + CV::Constant(1)); |
| 53 |
|
|
else |
| 54 |
|
|
idx = model.addJoint(model.getJointId(parent_name), joint, placement, name + "_joint"); |
| 55 |
|
|
|
| 56 |
|
|
model.addJointFrame(idx); |
| 57 |
|
|
|
| 58 |
|
|
model.appendBodyToJoint(idx, Inertia::Random(), SE3::Identity()); |
| 59 |
|
|
model.addBodyFrame(name + "_body", idx); |
| 60 |
|
|
} |
| 61 |
|
|
|
| 62 |
|
|
BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
| 63 |
|
|
|
| 64 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_crba) |
| 65 |
|
|
{ |
| 66 |
|
✗ |
pinocchio::Model model; |
| 67 |
|
✗ |
pinocchio::buildModels::humanoidRandom(model); |
| 68 |
|
✗ |
pinocchio::Data data(model); |
| 69 |
|
|
|
| 70 |
|
|
#ifdef NDEBUG |
| 71 |
|
|
#ifdef _INTENSE_TESTING_ |
| 72 |
|
|
const size_t NBT = 1000 * 1000; |
| 73 |
|
|
#else |
| 74 |
|
|
const size_t NBT = 10; |
| 75 |
|
|
#endif |
| 76 |
|
|
|
| 77 |
|
|
Eigen::VectorXd q = Eigen::VectorXd::Zero(model.nq); |
| 78 |
|
|
|
| 79 |
|
|
PinocchioTicToc timer(PinocchioTicToc::US); |
| 80 |
|
|
timer.tic(); |
| 81 |
|
|
SMOOTH(NBT) |
| 82 |
|
|
{ |
| 83 |
|
|
pinocchio::crba(model, data, q, pinocchio::Convention::WORLD); |
| 84 |
|
|
} |
| 85 |
|
|
timer.toc(std::cout, NBT); |
| 86 |
|
|
|
| 87 |
|
|
#else |
| 88 |
|
✗ |
const size_t NBT = 1; |
| 89 |
|
|
using namespace Eigen; |
| 90 |
|
|
using namespace pinocchio; |
| 91 |
|
|
|
| 92 |
|
✗ |
Eigen::MatrixXd M(model.nv, model.nv); |
| 93 |
|
✗ |
Eigen::VectorXd q = Eigen::VectorXd::Ones(model.nq); |
| 94 |
|
✗ |
q.segment<4>(3).normalize(); |
| 95 |
|
✗ |
Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv); |
| 96 |
|
✗ |
Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv); |
| 97 |
|
✗ |
data.M.fill(0); |
| 98 |
|
✗ |
pinocchio::crba(model, data, q, Convention::WORLD); |
| 99 |
|
✗ |
data.M.triangularView<Eigen::StrictlyLower>() = |
| 100 |
|
✗ |
data.M.transpose().triangularView<Eigen::StrictlyLower>(); |
| 101 |
|
|
|
| 102 |
|
|
/* Joint inertia from iterative crba. */ |
| 103 |
|
✗ |
const Eigen::VectorXd bias = rnea(model, data, q, v, a); |
| 104 |
|
✗ |
for (int i = 0; i < model.nv; ++i) |
| 105 |
|
|
{ |
| 106 |
|
✗ |
M.col(i) = rnea(model, data, q, v, Eigen::VectorXd::Unit(model.nv, i)) - bias; |
| 107 |
|
|
} |
| 108 |
|
|
|
| 109 |
|
|
// std::cout << "Mcrb = [ " << data.M << " ];" << std::endl; |
| 110 |
|
|
// std::cout << "Mrne = [ " << M << " ]; " << std::endl; |
| 111 |
|
✗ |
BOOST_CHECK(M.isApprox(data.M, 1e-12)); |
| 112 |
|
|
|
| 113 |
|
✗ |
std::cout << "(the time score in debug mode is not relevant) "; |
| 114 |
|
|
|
| 115 |
|
✗ |
q = Eigen::VectorXd::Zero(model.nq); |
| 116 |
|
|
|
| 117 |
|
✗ |
PinocchioTicToc timer(PinocchioTicToc::US); |
| 118 |
|
✗ |
timer.tic(); |
| 119 |
|
✗ |
SMOOTH(NBT) |
| 120 |
|
|
{ |
| 121 |
|
✗ |
pinocchio::crba(model, data, q, Convention::WORLD); |
| 122 |
|
|
} |
| 123 |
|
✗ |
timer.toc(std::cout, NBT); |
| 124 |
|
|
|
| 125 |
|
|
#endif // ifndef NDEBUG |
| 126 |
|
|
} |
| 127 |
|
|
|
| 128 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_minimal_crba) |
| 129 |
|
|
{ |
| 130 |
|
✗ |
pinocchio::Model model; |
| 131 |
|
✗ |
pinocchio::buildModels::humanoidRandom(model); |
| 132 |
|
✗ |
pinocchio::Data data(model), data_ref(model); |
| 133 |
|
|
|
| 134 |
|
✗ |
model.lowerPositionLimit.head<7>().fill(-1.); |
| 135 |
|
✗ |
model.upperPositionLimit.head<7>().fill(1.); |
| 136 |
|
|
|
| 137 |
|
|
Eigen::VectorXd q = |
| 138 |
|
✗ |
randomConfiguration(model, model.lowerPositionLimit, model.upperPositionLimit); |
| 139 |
|
✗ |
Eigen::VectorXd v(Eigen::VectorXd::Random(model.nv)); |
| 140 |
|
|
|
| 141 |
|
✗ |
pinocchio::crba(model, data_ref, q, pinocchio::Convention::LOCAL); |
| 142 |
|
✗ |
data_ref.M.triangularView<Eigen::StrictlyLower>() = |
| 143 |
|
✗ |
data_ref.M.transpose().triangularView<Eigen::StrictlyLower>(); |
| 144 |
|
|
|
| 145 |
|
✗ |
pinocchio::crba(model, data, q, pinocchio::Convention::WORLD); |
| 146 |
|
✗ |
data.M.triangularView<Eigen::StrictlyLower>() = |
| 147 |
|
✗ |
data.M.transpose().triangularView<Eigen::StrictlyLower>(); |
| 148 |
|
|
|
| 149 |
|
✗ |
BOOST_CHECK(data.M.isApprox(data_ref.M)); |
| 150 |
|
|
|
| 151 |
|
✗ |
ccrba(model, data_ref, q, v); |
| 152 |
|
✗ |
computeJointJacobians(model, data_ref, q); |
| 153 |
|
✗ |
BOOST_CHECK(data.Ag.isApprox(data_ref.Ag)); |
| 154 |
|
✗ |
BOOST_CHECK(data.J.isApprox(data_ref.J)); |
| 155 |
|
|
|
| 156 |
|
|
// Check double call |
| 157 |
|
|
{ |
| 158 |
|
✗ |
pinocchio::Data data2(model); |
| 159 |
|
✗ |
pinocchio::crba(model, data2, q, pinocchio::Convention::LOCAL); |
| 160 |
|
✗ |
pinocchio::crba(model, data2, q, pinocchio::Convention::LOCAL); |
| 161 |
|
|
|
| 162 |
|
✗ |
BOOST_CHECK(data2.Ycrb[0] == data.Ycrb[0]); |
| 163 |
|
|
} |
| 164 |
|
|
} |
| 165 |
|
|
|
| 166 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_roto_inertia_effects) |
| 167 |
|
|
{ |
| 168 |
|
✗ |
pinocchio::Model model, model_ref; |
| 169 |
|
✗ |
pinocchio::buildModels::humanoidRandom(model); |
| 170 |
|
✗ |
model_ref = model; |
| 171 |
|
|
|
| 172 |
|
✗ |
BOOST_CHECK(model == model_ref); |
| 173 |
|
|
|
| 174 |
|
✗ |
pinocchio::Data data(model), data_ref(model_ref); |
| 175 |
|
|
|
| 176 |
|
✗ |
model.armature = Eigen::VectorXd::Random(model.nv) + Eigen::VectorXd::Constant(model.nv, 1.); |
| 177 |
|
|
|
| 178 |
|
✗ |
Eigen::VectorXd q = randomConfiguration(model); |
| 179 |
|
✗ |
pinocchio::crba(model_ref, data_ref, q, pinocchio::Convention::WORLD); |
| 180 |
|
✗ |
data_ref.M.triangularView<Eigen::StrictlyLower>() = |
| 181 |
|
✗ |
data_ref.M.transpose().triangularView<Eigen::StrictlyLower>(); |
| 182 |
|
✗ |
data_ref.M.diagonal() += model.armature; |
| 183 |
|
|
|
| 184 |
|
✗ |
pinocchio::crba(model, data, q, pinocchio::Convention::WORLD); |
| 185 |
|
✗ |
data.M.triangularView<Eigen::StrictlyLower>() = |
| 186 |
|
✗ |
data.M.transpose().triangularView<Eigen::StrictlyLower>(); |
| 187 |
|
|
|
| 188 |
|
✗ |
BOOST_CHECK(data.M.isApprox(data_ref.M)); |
| 189 |
|
|
} |
| 190 |
|
|
|
| 191 |
|
|
#ifndef NDEBUG |
| 192 |
|
|
|
| 193 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_crba_malloc) |
| 194 |
|
|
{ |
| 195 |
|
|
using namespace pinocchio; |
| 196 |
|
✗ |
pinocchio::Model model; |
| 197 |
|
✗ |
pinocchio::buildModels::humanoidRandom(model); |
| 198 |
|
|
|
| 199 |
|
✗ |
model.addJoint( |
| 200 |
|
✗ |
size_t(model.njoints - 1), pinocchio::JointModelRevoluteUnaligned(SE3::Vector3::UnitX()), |
| 201 |
|
✗ |
SE3::Random(), "revolute_unaligned"); |
| 202 |
|
✗ |
pinocchio::Data data(model); |
| 203 |
|
|
|
| 204 |
|
✗ |
const Eigen::VectorXd q = pinocchio::neutral(model); |
| 205 |
|
✗ |
Eigen::internal::set_is_malloc_allowed(false); |
| 206 |
|
✗ |
crba(model, data, q); |
| 207 |
|
✗ |
Eigen::internal::set_is_malloc_allowed(true); |
| 208 |
|
|
} |
| 209 |
|
|
|
| 210 |
|
|
#endif |
| 211 |
|
|
|
| 212 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
| 213 |
|
|
|