GCC Code Coverage Report

Directory: ./
File: unittest/crba.cpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 80 80 100.0%
Branches: 277 550 50.4%
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
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 4 BOOST_AUTO_TEST_CASE(test_crba)
65 {
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 2 pinocchio::Model model;
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 2 pinocchio::buildModels::humanoidRandom(model);
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 2 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 2 const size_t NBT = 1;
89 using namespace Eigen;
90 using namespace pinocchio;
91
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 2 Eigen::MatrixXd M(model.nv, model.nv);
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 2 Eigen::VectorXd q = Eigen::VectorXd::Ones(model.nq);
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 2 Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);
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 2 Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv);
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 2 data.M.fill(0);
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 2 pinocchio::crba(model, data, q, Convention::WORLD);
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 2 data.M.triangularView<Eigen::StrictlyLower>() =
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 4 data.M.transpose().triangularView<Eigen::StrictlyLower>();
101
102 /* Joint inertia from iterative crba. */
103
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 2 const Eigen::VectorXd bias = rnea(model, data, q, v, a);
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 66 for (int i = 0; i < model.nv; ++i)
105 {
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 64 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;
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 2 BOOST_CHECK(M.isApprox(data.M, 1e-12));
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 2 std::cout << "(the time score in debug mode is not relevant) ";
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 2 q = Eigen::VectorXd::Zero(model.nq);
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 2 PinocchioTicToc timer(PinocchioTicToc::US);
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 2 timer.tic();
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 4 SMOOTH(NBT)
120 {
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 2 pinocchio::crba(model, data, q, Convention::WORLD);
122 }
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 2 timer.toc(std::cout, NBT);
124
125 #endif // ifndef NDEBUG
126 2 }
127
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 4 BOOST_AUTO_TEST_CASE(test_minimal_crba)
129 {
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 2 pinocchio::Model model;
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 2 pinocchio::buildModels::humanoidRandom(model);
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 2 pinocchio::Data data(model), data_ref(model);
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 2 model.lowerPositionLimit.head<7>().fill(-1.);
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 2 model.upperPositionLimit.head<7>().fill(1.);
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137 Eigen::VectorXd q =
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 2 randomConfiguration(model, model.lowerPositionLimit, model.upperPositionLimit);
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 2 Eigen::VectorXd v(Eigen::VectorXd::Random(model.nv));
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 2 pinocchio::crba(model, data_ref, q, pinocchio::Convention::LOCAL);
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 2 data_ref.M.triangularView<Eigen::StrictlyLower>() =
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 4 data_ref.M.transpose().triangularView<Eigen::StrictlyLower>();
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 2 pinocchio::crba(model, data, q, pinocchio::Convention::WORLD);
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 4 data.M.transpose().triangularView<Eigen::StrictlyLower>();
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 2 BOOST_CHECK(data.M.isApprox(data_ref.M));
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 2 ccrba(model, data_ref, q, v);
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 2 computeJointJacobians(model, data_ref, q);
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 2 BOOST_CHECK(data.Ag.isApprox(data_ref.Ag));
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 2 BOOST_CHECK(data.J.isApprox(data_ref.J));
155
156 // Check double call
157 {
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 2 pinocchio::Data data2(model);
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 2 pinocchio::crba(model, data2, q, pinocchio::Convention::LOCAL);
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 2 BOOST_CHECK(data2.Ycrb[0] == data.Ycrb[0]);
163 2 }
164 2 }
165
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 4 BOOST_AUTO_TEST_CASE(test_roto_inertia_effects)
167 {
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 2 pinocchio::Model model, model_ref;
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 2 pinocchio::buildModels::humanoidRandom(model);
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 2 model_ref = model;
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 2 BOOST_CHECK(model == model_ref);
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 2 pinocchio::Data data(model), data_ref(model_ref);
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 2 model.armature = Eigen::VectorXd::Random(model.nv) + Eigen::VectorXd::Constant(model.nv, 1.);
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 2 Eigen::VectorXd q = randomConfiguration(model);
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 2 pinocchio::crba(model_ref, data_ref, q, pinocchio::Convention::WORLD);
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 2 data_ref.M.triangularView<Eigen::StrictlyLower>() =
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 4 data_ref.M.transpose().triangularView<Eigen::StrictlyLower>();
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 2 data_ref.M.diagonal() += model.armature;
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 2 pinocchio::crba(model, data, q, pinocchio::Convention::WORLD);
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 4 data.M.transpose().triangularView<Eigen::StrictlyLower>();
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 2 BOOST_CHECK(data.M.isApprox(data_ref.M));
189 2 }
190
191 #ifndef NDEBUG
192
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 4 BOOST_AUTO_TEST_CASE(test_crba_malloc)
194 {
195 using namespace pinocchio;
196
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 2 pinocchio::Model model;
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 2 pinocchio::buildModels::humanoidRandom(model);
198
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 8 model.addJoint(
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 4 size_t(model.njoints - 1), pinocchio::JointModelRevoluteUnaligned(SE3::Vector3::UnitX()),
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 4 SE3::Random(), "revolute_unaligned");
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 2 pinocchio::Data data(model);
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 2 const Eigen::VectorXd q = pinocchio::neutral(model);
205 2 Eigen::internal::set_is_malloc_allowed(false);
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 2 crba(model, data, q);
207 2 Eigen::internal::set_is_malloc_allowed(true);
208 2 }
209
210 #endif
211
212 BOOST_AUTO_TEST_SUITE_END()
213