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// |
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// Copyright (c) 2016-2020 CNRS INRIA |
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// |
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#include "pinocchio/algorithm/energy.hpp" |
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#include "pinocchio/algorithm/crba.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/algorithm/center-of-mass.hpp" |
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#include "pinocchio/multibody/sample-models.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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#include <boost/test/tools/floating_point_comparison.hpp> |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_kinetic_energy) |
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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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Data data(model); |
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const VectorXd qmax = VectorXd::Ones(model.nq); |
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VectorXd q = randomConfiguration(model, -qmax, qmax); |
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VectorXd v = VectorXd::Random(model.nv); |
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crba(model, data, q, Convention::WORLD); |
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data.M.triangularView<Eigen::StrictlyLower>() = |
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data.M.transpose().triangularView<Eigen::StrictlyLower>(); |
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double kinetic_energy_ref = 0.5 * v.transpose() * data.M * v; |
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double kinetic_energy = computeKineticEnergy(model, data, q, v); |
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BOOST_CHECK_SMALL(kinetic_energy_ref - kinetic_energy, 1e-12); |
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} |
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BOOST_AUTO_TEST_CASE(test_kinetic_energy_with_armature) |
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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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Data data(model), data_ref(model); |
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model.armature = VectorXd::Random(model.nv) + VectorXd::Ones(model.nv); |
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const VectorXd qmax = VectorXd::Ones(model.nq); |
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VectorXd q = randomConfiguration(model, -qmax, qmax); |
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VectorXd v = VectorXd::Random(model.nv); |
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crba(model, data_ref, q, Convention::WORLD); |
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data_ref.M.triangularView<Eigen::StrictlyLower>() = |
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data_ref.M.transpose().triangularView<Eigen::StrictlyLower>(); |
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double kinetic_energy_ref = 0.5 * v.transpose() * data_ref.M * v; |
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double kinetic_energy = computeKineticEnergy(model, data, q, v); |
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BOOST_CHECK_SMALL( |
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kinetic_energy_ref - kinetic_energy, Eigen::NumTraits<double>::dummy_precision()); |
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} |
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BOOST_AUTO_TEST_CASE(test_potential_energy) |
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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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Data data(model), data_ref(model); |
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const VectorXd qmax = VectorXd::Ones(model.nq); |
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VectorXd q = randomConfiguration(model, -qmax, qmax); |
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double potential_energy = computePotentialEnergy(model, data, q); |
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centerOfMass(model, data_ref, q); |
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double potential_energy_ref = -data_ref.mass[0] * (data_ref.com[0].dot(model.gravity.linear())); |
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BOOST_CHECK_SMALL( |
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potential_energy_ref - potential_energy, Eigen::NumTraits<double>::dummy_precision()); |
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} |
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BOOST_AUTO_TEST_CASE(test_mechanical_energy) |
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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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Data data(model), data_ref(model); |
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const VectorXd qmax = VectorXd::Ones(model.nq); |
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VectorXd q = randomConfiguration(model, -qmax, qmax); |
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VectorXd v = VectorXd::Random(model.nv); |
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computeKineticEnergy(model, data_ref, q, v); |
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computePotentialEnergy(model, data_ref, q); |
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const double mechanical_energy_ref = data_ref.kinetic_energy + data_ref.potential_energy; |
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double mechanical_energy = computeMechanicalEnergy(model, data, q, v); |
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BOOST_CHECK_SMALL( |
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mechanical_energy_ref - mechanical_energy, Eigen::NumTraits<double>::dummy_precision()); |
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} |
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template<typename ConfigVectorType, typename TangentVectorType> |
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Eigen::VectorXd evalMv( |
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const pinocchio::Model & model, |
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const Eigen::MatrixBase<ConfigVectorType> & q, |
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const Eigen::MatrixBase<TangentVectorType> & v) |
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{ |
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pinocchio::Data data(model); |
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pinocchio::crba(model, data, q, pinocchio::Convention::WORLD); |
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data.M.triangularView<Eigen::StrictlyLower>() = |
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data.M.transpose().triangularView<Eigen::StrictlyLower>(); |
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return data.M * v; |
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} |
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BOOST_AUTO_TEST_CASE(test_against_rnea) |
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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.armature = VectorXd::Random(model.nv) + VectorXd::Ones(model.nv); |
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model.armature.head<6>().setZero(); // Because we do not take into account the influcent of the |
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// armature on the Coriolis terms |
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// model.gravity.setZero(); |
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Data data(model), data_ref(model); |
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const VectorXd qmax = VectorXd::Ones(model.nq); |
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VectorXd q = randomConfiguration(model, -qmax, qmax); |
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VectorXd v = VectorXd::Random(model.nv); // v.setZero(); |
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VectorXd a = VectorXd::Random(model.nv); // a.setZero(); |
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const VectorXd tau_ref = rnea(model, data_ref, q, v, a); |
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VectorXd tau_fd = VectorXd::Zero(model.nv); |
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const double eps = 1e-8; |
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computeMechanicalEnergy(model, data, q, v); |
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const double mechanical_energy = data.kinetic_energy - data.potential_energy; |
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forwardKinematics(model, data, q); |
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const SE3 oM1 = data.oMi[1]; |
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Data data_plus(model); |
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for (Eigen::DenseIndex k = 0; k < model.nv; ++k) |
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{ |
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VectorXd q_plus = integrate(model, q, VectorXd::Unit(model.nv, k) * eps); |
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computeMechanicalEnergy(model, data_plus, q_plus, v); |
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const double mechanical_energy_plus = data_plus.kinetic_energy - data_plus.potential_energy; |
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const SE3 oM1_plus = data_plus.oMi[1]; |
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const SE3 Mdiff = oM1.actInv(oM1_plus); |
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if (k < 6) |
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{ |
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Force f = Force::Zero(); |
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f.toVector()[k] = mechanical_energy; |
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Force f_plus = Force::Zero(); |
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f_plus.toVector()[k] = mechanical_energy_plus; |
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tau_fd.head<6>() -= (Mdiff.act(f_plus) - f).toVector() / eps; |
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} |
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else |
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{ |
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tau_fd[k] = -(mechanical_energy_plus - mechanical_energy) / eps; |
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} |
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} |
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const VectorXd Mv = evalMv(model, q, v); |
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const VectorXd q_plus = integrate(model, q, v * eps); |
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const VectorXd v_plus = v + a * eps; |
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VectorXd Mv_plus = evalMv(model, q_plus, v_plus); |
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forwardKinematics(model, data, q_plus); |
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const SE3 oM1_plus = data.oMi[1]; |
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const SE3 Mdiff = oM1.actInv(oM1_plus); |
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Mv_plus.head<6>() = |
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Mdiff.act(Force(Mv_plus.head<6>())) |
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.toVector(); // The torque at the free flyer level is expressed in a translated frame. |
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tau_fd += (Mv_plus - Mv) / eps; |
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std::cout << "tau_fd: " << tau_fd.transpose() << std::endl; |
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std::cout << "tau_ref: " << tau_ref.transpose() << std::endl; |
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BOOST_CHECK(tau_fd.isApprox(tau_ref, sqrt(eps))); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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