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// |
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// Copyright (c) 2019-2020 INRIA |
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// |
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#include "pinocchio/multibody/data.hpp" |
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#include "pinocchio/multibody/model.hpp" |
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#include "pinocchio/multibody/sample-models.hpp" |
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#include "pinocchio/algorithm/check.hpp" |
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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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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_empty_model) |
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{ |
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Model empty_model; |
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Data empty_data(empty_model); |
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BOOST_CHECK(empty_model.check(empty_data)); |
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} |
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BOOST_AUTO_TEST_CASE(test_data_start_idx_v_fromRow) |
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{ |
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Model model; |
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buildModels::humanoidRandom(model); |
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Data data(model); |
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for (Model::JointIndex joint_id = 1; joint_id < (Model::JointIndex)model.njoints; ++joint_id) |
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{ |
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const int nv_joint = model.joints[joint_id].nv(); |
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const int idx_joint = model.joints[joint_id].idx_v(); |
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for (int k = 0; k < nv_joint; ++k) |
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{ |
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BOOST_CHECK(data.start_idx_v_fromRow[(size_t)(idx_joint + k)] == idx_joint); |
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BOOST_CHECK(data.end_idx_v_fromRow[(size_t)(idx_joint + k)] == idx_joint + nv_joint - 1); |
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} |
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} |
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} |
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BOOST_AUTO_TEST_CASE(test_data_supports_fromRow) |
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{ |
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Model model; |
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buildModels::humanoidRandom(model); |
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Data data(model); |
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for (size_t k = 0; k < (size_t)model.nv; ++k) |
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{ |
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const std::vector<int> & support = data.supports_fromRow[k]; |
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const int parent_id = data.parents_fromRow[k]; |
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if (parent_id >= 0) |
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{ |
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const std::vector<int> & support_parent = data.supports_fromRow[(size_t)parent_id]; |
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BOOST_CHECK(support.size() == support_parent.size() + 1); |
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for (size_t j = 0; j < support_parent.size(); ++j) |
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{ |
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BOOST_CHECK(support[j] == support_parent[j]); |
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} |
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} |
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BOOST_CHECK(support.back() == (int)k); |
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} |
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} |
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BOOST_AUTO_TEST_CASE(test_copy_and_equal_op) |
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{ |
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Model model; |
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buildModels::humanoidRandom(model); |
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Data data(model); |
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Data data_copy = data; |
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BOOST_CHECK(data == data); |
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BOOST_CHECK(data == data_copy); |
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data_copy.oMi[0].setRandom(); |
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BOOST_CHECK(data != data_copy); |
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} |
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BOOST_AUTO_TEST_CASE(test_container_aligned_vector) |
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{ |
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Model model; |
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buildModels::humanoidRandom(model); |
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Data data(model); |
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container::aligned_vector<Data::Force> & f = data.f; |
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data.f[0].setRandom(); |
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BOOST_CHECK(data.f[0] == f[0]); |
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} |
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BOOST_AUTO_TEST_CASE(test_std_vector_of_Data) |
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{ |
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Model model; |
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buildModels::humanoidRandom(model); |
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PINOCCHIO_ALIGNED_STD_VECTOR(Data) datas; |
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for (size_t k = 0; k < 20; ++k) |
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datas.push_back(Data(model)); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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