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// |
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// Copyright (c) 2016-2019 CNRS INRIA |
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// |
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#include "pinocchio/multibody/model.hpp" |
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#include "pinocchio/multibody/data.hpp" |
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#include "pinocchio/multibody/sample-models.hpp" |
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#include "pinocchio/algorithm/joint-configuration.hpp" |
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#include "pinocchio/algorithm/kinematics.hpp" |
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#include "pinocchio/algorithm/jacobian.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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using namespace pinocchio; |
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using namespace Eigen; |
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template<bool local> |
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Data::Matrix6x finiteDiffJacobian( |
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const Model & model, Data & data, const Eigen::VectorXd & q, const Model::JointIndex joint_id) |
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{ |
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Data::Matrix6x res(6, model.nv); |
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res.setZero(); |
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VectorXd q_integrate(model.nq); |
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VectorXd v_integrate(model.nv); |
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v_integrate.setZero(); |
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forwardKinematics(model, data, q); |
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const SE3 oMi_ref = data.oMi[joint_id]; |
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double eps = 1e-8; |
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for (int k = 0; k < model.nv; ++k) |
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{ |
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// Integrate along kth direction |
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v_integrate[k] = eps; |
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q_integrate = integrate(model, q, v_integrate); |
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forwardKinematics(model, data, q_integrate); |
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const SE3 & oMi = data.oMi[joint_id]; |
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if (local) |
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res.col(k) = log6(oMi_ref.inverse() * oMi).toVector(); |
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else |
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res.col(k) = oMi_ref.act(log6(oMi_ref.inverse() * oMi)).toVector(); |
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res.col(k) /= eps; |
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v_integrate[k] = 0.; |
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} |
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return res; |
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} |
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template<typename Matrix> |
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void filterValue(MatrixBase<Matrix> & mat, typename Matrix::Scalar value) |
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{ |
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for (int k = 0; k < mat.size(); ++k) |
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mat.derived().data()[k] = |
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math::fabs(mat.derived().data()[k]) <= value ? 0 : mat.derived().data()[k]; |
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} |
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template<typename JointModel_> |
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struct init; |
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template<typename JointModel_> |
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struct init |
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{ |
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static JointModel_ run() |
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{ |
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JointModel_ jmodel; |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options> |
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struct init<pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options>> |
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{ |
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typedef pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options> JointModel; |
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static JointModel run() |
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{ |
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typedef typename JointModel::Vector3 Vector3; |
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JointModel jmodel(Vector3::Random().normalized()); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options> |
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struct init<pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options>> |
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{ |
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typedef pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options> JointModel; |
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static JointModel run() |
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{ |
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typedef typename JointModel::Vector3 Vector3; |
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JointModel jmodel(Vector3::Random().normalized()); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options> |
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struct init<pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options>> |
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{ |
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typedef pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options> JointModel; |
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static JointModel run() |
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{ |
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typedef typename JointModel::Vector3 Vector3; |
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JointModel jmodel(Vector3::Random().normalized()); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options> |
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struct init<pinocchio::JointModelHelicalUnalignedTpl<Scalar, Options>> |
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{ |
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typedef pinocchio::JointModelHelicalUnalignedTpl<Scalar, Options> JointModel; |
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static JointModel run() |
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{ |
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typedef typename JointModel::Vector3 Vector3; |
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JointModel jmodel(Vector3::Random().normalized()); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options> |
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struct init<pinocchio::JointModelUniversalTpl<Scalar, Options>> |
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{ |
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typedef pinocchio::JointModelUniversalTpl<Scalar, Options> JointModel; |
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static JointModel run() |
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{ |
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typedef typename JointModel::Vector3 Vector3; |
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JointModel jmodel(XAxis::vector(), YAxis::vector()); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options, int axis> |
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struct init<pinocchio::JointModelHelicalTpl<Scalar, Options, axis>> |
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{ |
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typedef pinocchio::JointModelHelicalTpl<Scalar, Options, axis> JointModel; |
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static JointModel run() |
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{ |
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JointModel jmodel(static_cast<Scalar>(0.5)); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options, template<typename, int> class JointCollection> |
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struct init<pinocchio::JointModelTpl<Scalar, Options, JointCollection>> |
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{ |
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typedef pinocchio::JointModelTpl<Scalar, Options, JointCollection> JointModel; |
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static JointModel run() |
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{ |
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typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 0> JointModelRX; |
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JointModel jmodel((JointModelRX())); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options, template<typename, int> class JointCollection> |
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struct init<pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollection>> |
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{ |
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typedef pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollection> JointModel; |
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static JointModel run() |
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{ |
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typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 0> JointModelRX; |
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typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 1> JointModelRY; |
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JointModel jmodel((JointModelRX())); |
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jmodel.addJoint(JointModelRY()); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename JointModel_> |
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struct init<pinocchio::JointModelMimic<JointModel_>> |
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{ |
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typedef pinocchio::JointModelMimic<JointModel_> JointModel; |
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static JointModel run() |
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{ |
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JointModel_ jmodel_ref = init<JointModel_>::run(); |
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JointModel jmodel(jmodel_ref, 1., 0.); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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struct FiniteDiffJoint |
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{ |
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void operator()(JointModelComposite & /*jmodel*/) const |
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{ |
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} |
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template<typename JointModel> |
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void operator()(JointModelBase<JointModel> & /*jmodel*/) const |
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{ |
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typedef typename JointModel::ConfigVector_t CV; |
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typedef typename JointModel::TangentVector_t TV; |
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typedef typename LieGroup<JointModel>::type LieGroupType; |
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JointModel jmodel = init<JointModel>::run(); |
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std::cout << "name: " << jmodel.classname() << std::endl; |
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typename JointModel::JointDataDerived jdata_ = jmodel.createData(); |
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typedef JointDataBase<typename JointModel::JointDataDerived> DataBaseType; |
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DataBaseType & jdata = static_cast<DataBaseType &>(jdata_); |
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CV q = LieGroupType().random(); |
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jmodel.calc(jdata.derived(), q); |
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SE3 M_ref(jdata.M()); |
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CV q_int(q); |
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const Eigen::DenseIndex nv = jdata.S().nv(); |
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TV v(nv); |
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v.setZero(); |
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double eps = 1e-8; |
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Eigen::Matrix<double, 6, JointModel::NV> S(6, nv), S_ref(jdata.S().matrix()); |
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for (int k = 0; k < nv; ++k) |
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{ |
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v[k] = eps; |
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q_int = LieGroupType().integrate(q, v); |
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jmodel.calc(jdata.derived(), q_int); |
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SE3 M_int = jdata.M(); |
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S.col(k) = log6(M_ref.inverse() * M_int).toVector(); |
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S.col(k) /= eps; |
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v[k] = 0.; |
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} |
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BOOST_CHECK(S.isApprox(S_ref, eps * 1e1)); |
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std::cout << "S_ref:\n" << S_ref << std::endl; |
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std::cout << "S:\n" << S << std::endl; |
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} |
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}; |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_S_finit_diff) |
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{ |
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boost::mpl::for_each<JointModelVariant::types>(FiniteDiffJoint()); |
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} |
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BOOST_AUTO_TEST_CASE(test_jacobian_vs_finit_diff) |
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{ |
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pinocchio::Model model; |
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pinocchio::buildModels::humanoidRandom(model); |
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pinocchio::Data data(model); |
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VectorXd q = VectorXd::Ones(model.nq); |
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q.segment<4>(3).normalize(); |
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computeJointJacobians(model, data, q); |
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Model::Index idx = |
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model.existJointName("rarm2") ? model.getJointId("rarm2") : (Model::Index)(model.njoints - 1); |
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Data::Matrix6x Jrh(6, model.nv); |
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Jrh.fill(0); |
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getJointJacobian(model, data, idx, WORLD, Jrh); |
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Data::Matrix6x Jrh_finite_diff = finiteDiffJacobian<false>(model, data, q, idx); |
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BOOST_CHECK(Jrh_finite_diff.isApprox(Jrh, sqrt(1e-8))); |
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getJointJacobian(model, data, idx, LOCAL, Jrh); |
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Jrh_finite_diff = finiteDiffJacobian<true>(model, data, q, idx); |
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BOOST_CHECK(Jrh_finite_diff.isApprox(Jrh, sqrt(1e-8))); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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