| Directory: | ./ |
|---|---|
| File: | unittest/frames-derivatives.cpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 326 | 326 | 100.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2020 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/algorithm/jacobian.hpp" | ||
| 6 | #include "pinocchio/algorithm/joint-configuration.hpp" | ||
| 7 | #include "pinocchio/algorithm/kinematics.hpp" | ||
| 8 | #include "pinocchio/algorithm/kinematics-derivatives.hpp" | ||
| 9 | #include "pinocchio/algorithm/frames.hpp" | ||
| 10 | #include "pinocchio/algorithm/frames-derivatives.hpp" | ||
| 11 | #include "pinocchio/multibody/sample-models.hpp" | ||
| 12 | |||
| 13 | #include <iostream> | ||
| 14 | |||
| 15 | #include <boost/test/unit_test.hpp> | ||
| 16 | #include <boost/utility/binary.hpp> | ||
| 17 | |||
| 18 | BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) | ||
| 19 | |||
| 20 |
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4 | BOOST_AUTO_TEST_CASE(test_frames_derivatives_velocity) |
| 21 | { | ||
| 22 | using namespace Eigen; | ||
| 23 | using namespace pinocchio; | ||
| 24 | |||
| 25 |
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2 | Model model; |
| 26 |
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2 | buildModels::humanoidRandom(model); |
| 27 | |||
| 28 |
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4 | const Model::JointIndex jointId = model.existJointName("rarm2_joint") |
| 29 |
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4 | ? model.getJointId("rarm2_joint") |
| 30 |
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2 | : (Model::Index)(model.njoints - 1); |
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4 | Frame frame("rand", jointId, 0, SE3::Random(), OP_FRAME); |
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2 | FrameIndex frameId = model.addFrame(frame); |
| 33 | |||
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2 | BOOST_CHECK(model.getFrameId("rand") == frameId); |
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2 | BOOST_CHECK(model.frames[frameId].parentJoint == jointId); |
| 36 | |||
| 37 |
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2 | Data data(model), data_ref(model); |
| 38 | |||
| 39 |
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2 | model.lowerPositionLimit.head<3>().fill(-1.); |
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2 | model.upperPositionLimit.head<3>().fill(1.); |
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2 | VectorXd q = randomConfiguration(model); |
| 42 |
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2 | VectorXd v(VectorXd::Random(model.nv)); |
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2 | VectorXd a(VectorXd::Random(model.nv)); |
| 44 | |||
| 45 |
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2 | computeForwardKinematicsDerivatives(model, data, q, v, a); |
| 46 | |||
| 47 |
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2 | Data::Matrix6x partial_dq(6, model.nv); |
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2 | partial_dq.setZero(); |
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2 | Data::Matrix6x partial_dq_local_world_aligned(6, model.nv); |
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2 | partial_dq_local_world_aligned.setZero(); |
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2 | Data::Matrix6x partial_dq_local(6, model.nv); |
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2 | partial_dq_local.setZero(); |
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2 | Data::Matrix6x partial_dv(6, model.nv); |
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2 | partial_dv.setZero(); |
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2 | Data::Matrix6x partial_dv_local_world_aligned(6, model.nv); |
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2 | partial_dv_local_world_aligned.setZero(); |
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2 | Data::Matrix6x partial_dv_local(6, model.nv); |
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2 | partial_dv_local.setZero(); |
| 59 | |||
| 60 |
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2 | getFrameVelocityDerivatives(model, data, frameId, WORLD, partial_dq, partial_dv); |
| 61 | |||
| 62 |
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2 | getFrameVelocityDerivatives( |
| 63 | model, data, frameId, LOCAL_WORLD_ALIGNED, partial_dq_local_world_aligned, | ||
| 64 | partial_dv_local_world_aligned); | ||
| 65 | |||
| 66 |
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2 | getFrameVelocityDerivatives(model, data, frameId, LOCAL, partial_dq_local, partial_dv_local); |
| 67 | |||
| 68 |
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2 | Data::Matrix6x J_ref(6, model.nv); |
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2 | J_ref.setZero(); |
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2 | Data::Matrix6x J_ref_local_world_aligned(6, model.nv); |
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2 | J_ref_local_world_aligned.setZero(); |
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2 | Data::Matrix6x J_ref_local(6, model.nv); |
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2 | J_ref_local.setZero(); |
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2 | computeJointJacobians(model, data_ref, q); |
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2 | getFrameJacobian(model, data_ref, frameId, WORLD, J_ref); |
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2 | getFrameJacobian(model, data_ref, frameId, LOCAL_WORLD_ALIGNED, J_ref_local_world_aligned); |
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2 | getFrameJacobian(model, data_ref, frameId, LOCAL, J_ref_local); |
| 78 | |||
| 79 |
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2 | BOOST_CHECK(data_ref.oMf[frameId].isApprox(data.oMf[frameId])); |
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2 | BOOST_CHECK(partial_dv.isApprox(J_ref)); |
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2 | BOOST_CHECK(partial_dv_local_world_aligned.isApprox(J_ref_local_world_aligned)); |
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2 | BOOST_CHECK(partial_dv_local.isApprox(J_ref_local)); |
| 83 | |||
| 84 | // Check against finite differences | ||
| 85 |
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2 | Data::Matrix6x partial_dq_fd(6, model.nv); |
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2 | partial_dq_fd.setZero(); |
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2 | Data::Matrix6x partial_dq_fd_local_world_aligned(6, model.nv); |
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2 | partial_dq_fd_local_world_aligned.setZero(); |
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2 | Data::Matrix6x partial_dq_fd_local(6, model.nv); |
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2 | partial_dq_fd_local.setZero(); |
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2 | Data::Matrix6x partial_dv_fd(6, model.nv); |
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2 | partial_dv_fd.setZero(); |
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2 | Data::Matrix6x partial_dv_fd_local_world_aligned(6, model.nv); |
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2 | partial_dv_fd_local_world_aligned.setZero(); |
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2 | Data::Matrix6x partial_dv_fd_local(6, model.nv); |
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2 | partial_dv_fd_local.setZero(); |
| 97 | 2 | const double alpha = 1e-8; | |
| 98 | |||
| 99 | // dvel/dv | ||
| 100 |
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2 | Eigen::VectorXd v_plus(v); |
| 101 |
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2 | Data data_plus(model); |
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2 | forwardKinematics(model, data_ref, q, v); |
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2 | Motion v0 = getFrameVelocity(model, data, frameId, WORLD); |
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2 | Motion v0_local_world_aligned = getFrameVelocity(model, data, frameId, LOCAL_WORLD_ALIGNED); |
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2 | Motion v0_local = getFrameVelocity(model, data, frameId, LOCAL); |
| 106 |
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66 | for (int k = 0; k < model.nv; ++k) |
| 107 | { | ||
| 108 |
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64 | v_plus[k] += alpha; |
| 109 |
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64 | forwardKinematics(model, data_plus, q, v_plus); |
| 110 | |||
| 111 |
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64 | partial_dv_fd.col(k) = |
| 112 |
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128 | (getFrameVelocity(model, data_plus, frameId, WORLD) - v0).toVector() / alpha; |
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64 | partial_dv_fd_local_world_aligned.col(k) = |
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64 | (getFrameVelocity(model, data_plus, frameId, LOCAL_WORLD_ALIGNED) - v0_local_world_aligned) |
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64 | .toVector() |
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128 | / alpha; |
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64 | partial_dv_fd_local.col(k) = |
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128 | (getFrameVelocity(model, data_plus, frameId, LOCAL) - v0_local).toVector() / alpha; |
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64 | v_plus[k] -= alpha; |
| 120 | } | ||
| 121 | |||
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2 | BOOST_CHECK(partial_dv.isApprox(partial_dv_fd, sqrt(alpha))); |
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2 | BOOST_CHECK( |
| 124 | partial_dv_local_world_aligned.isApprox(partial_dv_fd_local_world_aligned, sqrt(alpha))); | ||
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2 | BOOST_CHECK(partial_dv_local.isApprox(partial_dv_fd_local, sqrt(alpha))); |
| 126 | |||
| 127 | // dvel/dq | ||
| 128 |
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2 | Eigen::VectorXd q_plus(q), v_eps(Eigen::VectorXd::Zero(model.nv)); |
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2 | forwardKinematics(model, data_ref, q, v); |
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2 | updateFramePlacements(model, data_ref); |
| 131 | |||
| 132 |
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66 | for (int k = 0; k < model.nv; ++k) |
| 133 | { | ||
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64 | v_eps[k] += alpha; |
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64 | q_plus = integrate(model, q, v_eps); |
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64 | forwardKinematics(model, data_plus, q_plus, v); |
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64 | updateFramePlacements(model, data_plus); |
| 138 | |||
| 139 | Motion v_plus_local_world_aligned = | ||
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64 | getFrameVelocity(model, data_plus, frameId, LOCAL_WORLD_ALIGNED); |
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64 | SE3::Vector3 trans = data_plus.oMf[frameId].translation() - data_ref.oMf[frameId].translation(); |
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64 | v_plus_local_world_aligned.linear() -= v_plus_local_world_aligned.angular().cross(trans); |
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64 | partial_dq_fd.col(k) = |
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128 | (getFrameVelocity(model, data_plus, frameId, WORLD) - v0).toVector() / alpha; |
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64 | partial_dq_fd_local_world_aligned.col(k) = |
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128 | (v_plus_local_world_aligned - v0_local_world_aligned).toVector() / alpha; |
| 147 |
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64 | partial_dq_fd_local.col(k) = |
| 148 |
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128 | (getFrameVelocity(model, data_plus, frameId, LOCAL) - v0_local).toVector() / alpha; |
| 149 |
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64 | v_eps[k] -= alpha; |
| 150 | } | ||
| 151 | |||
| 152 |
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2 | BOOST_CHECK(partial_dq.isApprox(partial_dq_fd, sqrt(alpha))); |
| 153 |
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2 | BOOST_CHECK( |
| 154 | partial_dq_local_world_aligned.isApprox(partial_dq_fd_local_world_aligned, sqrt(alpha))); | ||
| 155 |
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2 | BOOST_CHECK(partial_dq_local.isApprox(partial_dq_fd_local, sqrt(alpha))); |
| 156 | 2 | } | |
| 157 | |||
| 158 |
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4 | BOOST_AUTO_TEST_CASE(test_kinematics_derivatives_acceleration) |
| 159 | { | ||
| 160 | using namespace Eigen; | ||
| 161 | using namespace pinocchio; | ||
| 162 | |||
| 163 |
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2 | Model model; |
| 164 |
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2 | buildModels::humanoidRandom(model); |
| 165 | |||
| 166 |
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4 | const Model::JointIndex jointId = model.existJointName("rarm2_joint") |
| 167 |
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4 | ? model.getJointId("rarm2_joint") |
| 168 |
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2 | : (Model::Index)(model.njoints - 1); |
| 169 |
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4 | Frame frame("rand", jointId, 0, SE3::Random(), OP_FRAME); |
| 170 |
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2 | FrameIndex frameId = model.addFrame(frame); |
| 171 | |||
| 172 |
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2 | BOOST_CHECK(model.getFrameId("rand") == frameId); |
| 173 |
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2 | BOOST_CHECK(model.frames[frameId].parentJoint == jointId); |
| 174 | |||
| 175 |
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2 | Data data(model), data_ref(model); |
| 176 | |||
| 177 |
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2 | model.lowerPositionLimit.head<3>().fill(-1.); |
| 178 |
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2 | model.upperPositionLimit.head<3>().fill(1.); |
| 179 |
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2 | VectorXd q = randomConfiguration(model); |
| 180 |
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2 | VectorXd v(VectorXd::Random(model.nv)); |
| 181 |
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2 | VectorXd a(VectorXd::Random(model.nv)); |
| 182 | |||
| 183 |
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2 | computeForwardKinematicsDerivatives(model, data, q, v, a); |
| 184 | |||
| 185 |
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2 | Data::Matrix6x v_partial_dq(6, model.nv); |
| 186 |
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2 | v_partial_dq.setZero(); |
| 187 |
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2 | Data::Matrix6x v_partial_dq_local(6, model.nv); |
| 188 |
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2 | v_partial_dq_local.setZero(); |
| 189 |
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2 | Data::Matrix6x v_partial_dq_local_world_aligned(6, model.nv); |
| 190 |
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2 | v_partial_dq_local_world_aligned.setZero(); |
| 191 |
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2 | Data::Matrix6x a_partial_dq(6, model.nv); |
| 192 |
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2 | a_partial_dq.setZero(); |
| 193 |
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2 | Data::Matrix6x a_partial_dq_local_world_aligned(6, model.nv); |
| 194 |
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2 | a_partial_dq_local_world_aligned.setZero(); |
| 195 |
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2 | Data::Matrix6x a_partial_dq_local(6, model.nv); |
| 196 |
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2 | a_partial_dq_local.setZero(); |
| 197 |
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2 | Data::Matrix6x a_partial_dv(6, model.nv); |
| 198 |
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2 | a_partial_dv.setZero(); |
| 199 |
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2 | Data::Matrix6x a_partial_dv_local_world_aligned(6, model.nv); |
| 200 |
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2 | a_partial_dv_local_world_aligned.setZero(); |
| 201 |
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2 | Data::Matrix6x a_partial_dv_local(6, model.nv); |
| 202 |
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2 | a_partial_dv_local.setZero(); |
| 203 |
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2 | Data::Matrix6x a_partial_da(6, model.nv); |
| 204 |
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2 | a_partial_da.setZero(); |
| 205 |
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2 | Data::Matrix6x a_partial_da_local_world_aligned(6, model.nv); |
| 206 |
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2 | a_partial_da_local_world_aligned.setZero(); |
| 207 |
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2 | Data::Matrix6x a_partial_da_local(6, model.nv); |
| 208 |
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2 | a_partial_da_local.setZero(); |
| 209 | |||
| 210 |
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2 | getFrameAccelerationDerivatives( |
| 211 | model, data, frameId, WORLD, v_partial_dq, a_partial_dq, a_partial_dv, a_partial_da); | ||
| 212 | |||
| 213 |
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2 | getFrameAccelerationDerivatives( |
| 214 | model, data, frameId, LOCAL_WORLD_ALIGNED, v_partial_dq_local_world_aligned, | ||
| 215 | a_partial_dq_local_world_aligned, a_partial_dv_local_world_aligned, | ||
| 216 | a_partial_da_local_world_aligned); | ||
| 217 | |||
| 218 |
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2 | getFrameAccelerationDerivatives( |
| 219 | model, data, frameId, LOCAL, v_partial_dq_local, a_partial_dq_local, a_partial_dv_local, | ||
| 220 | a_partial_da_local); | ||
| 221 | |||
| 222 | // Check v_partial_dq against getFrameVelocityDerivatives | ||
| 223 | { | ||
| 224 |
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2 | Data data_v(model); |
| 225 |
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2 | computeForwardKinematicsDerivatives(model, data_v, q, v, a); |
| 226 | |||
| 227 |
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2 | Data::Matrix6x v_partial_dq_ref(6, model.nv); |
| 228 |
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2 | v_partial_dq_ref.setZero(); |
| 229 |
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2 | Data::Matrix6x v_partial_dq_ref_local_world_aligned(6, model.nv); |
| 230 |
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2 | v_partial_dq_ref_local_world_aligned.setZero(); |
| 231 |
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2 | Data::Matrix6x v_partial_dq_ref_local(6, model.nv); |
| 232 |
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2 | v_partial_dq_ref_local.setZero(); |
| 233 |
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2 | Data::Matrix6x v_partial_dv_ref(6, model.nv); |
| 234 |
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2 | v_partial_dv_ref.setZero(); |
| 235 |
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2 | Data::Matrix6x v_partial_dv_ref_local_world_aligned(6, model.nv); |
| 236 |
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2 | v_partial_dv_ref_local_world_aligned.setZero(); |
| 237 |
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2 | Data::Matrix6x v_partial_dv_ref_local(6, model.nv); |
| 238 |
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2 | v_partial_dv_ref_local.setZero(); |
| 239 | |||
| 240 |
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2 | getFrameVelocityDerivatives(model, data_v, frameId, WORLD, v_partial_dq_ref, v_partial_dv_ref); |
| 241 | |||
| 242 |
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2 | BOOST_CHECK(v_partial_dq.isApprox(v_partial_dq_ref)); |
| 243 |
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2 | BOOST_CHECK(a_partial_da.isApprox(v_partial_dv_ref)); |
| 244 | |||
| 245 |
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2 | getFrameVelocityDerivatives( |
| 246 | model, data_v, frameId, LOCAL_WORLD_ALIGNED, v_partial_dq_ref_local_world_aligned, | ||
| 247 | v_partial_dv_ref_local_world_aligned); | ||
| 248 | |||
| 249 |
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2 | BOOST_CHECK(v_partial_dq_local_world_aligned.isApprox(v_partial_dq_ref_local_world_aligned)); |
| 250 |
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2 | BOOST_CHECK(a_partial_da_local_world_aligned.isApprox(v_partial_dv_ref_local_world_aligned)); |
| 251 | |||
| 252 |
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2 | getFrameVelocityDerivatives( |
| 253 | model, data_v, frameId, LOCAL, v_partial_dq_ref_local, v_partial_dv_ref_local); | ||
| 254 | |||
| 255 |
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2 | BOOST_CHECK(v_partial_dq_local.isApprox(v_partial_dq_ref_local)); |
| 256 |
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2 | BOOST_CHECK(a_partial_da_local.isApprox(v_partial_dv_ref_local)); |
| 257 | 2 | } | |
| 258 | |||
| 259 |
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2 | Data::Matrix6x J_ref(6, model.nv); |
| 260 |
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2 | J_ref.setZero(); |
| 261 |
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2 | Data::Matrix6x J_ref_local(6, model.nv); |
| 262 |
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2 | J_ref_local.setZero(); |
| 263 |
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2 | Data::Matrix6x J_ref_local_world_aligned(6, model.nv); |
| 264 |
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2 | J_ref_local_world_aligned.setZero(); |
| 265 |
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2 | computeJointJacobians(model, data_ref, q); |
| 266 |
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2 | getFrameJacobian(model, data_ref, frameId, WORLD, J_ref); |
| 267 |
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2 | getFrameJacobian(model, data_ref, frameId, LOCAL_WORLD_ALIGNED, J_ref_local_world_aligned); |
| 268 |
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2 | getFrameJacobian(model, data_ref, frameId, LOCAL, J_ref_local); |
| 269 | |||
| 270 |
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2 | BOOST_CHECK(a_partial_da.isApprox(J_ref)); |
| 271 |
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2 | BOOST_CHECK(a_partial_da_local_world_aligned.isApprox(J_ref_local_world_aligned)); |
| 272 |
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2 | BOOST_CHECK(a_partial_da_local.isApprox(J_ref_local)); |
| 273 | |||
| 274 | // Check against finite differences | ||
| 275 |
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2 | Data::Matrix6x a_partial_da_fd(6, model.nv); |
| 276 |
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2 | a_partial_da_fd.setZero(); |
| 277 |
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2 | Data::Matrix6x a_partial_da_fd_local_world_aligned(6, model.nv); |
| 278 |
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2 | a_partial_da_fd_local_world_aligned.setZero(); |
| 279 |
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2 | Data::Matrix6x a_partial_da_fd_local(6, model.nv); |
| 280 |
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2 | a_partial_da_fd_local.setZero(); |
| 281 | 2 | const double alpha = 1e-8; | |
| 282 | |||
| 283 |
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2 | Eigen::VectorXd v_plus(v), a_plus(a); |
| 284 |
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2 | Data data_plus(model); |
| 285 |
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2 | forwardKinematics(model, data_ref, q, v, a); |
| 286 | |||
| 287 | // dacc/da | ||
| 288 |
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2 | Motion a0 = getFrameAcceleration(model, data, frameId, WORLD); |
| 289 |
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2 | Motion a0_local_world_aligned = getFrameAcceleration(model, data, frameId, LOCAL_WORLD_ALIGNED); |
| 290 |
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2 | Motion a0_local = getFrameAcceleration(model, data, frameId, LOCAL); |
| 291 |
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66 | for (int k = 0; k < model.nv; ++k) |
| 292 | { | ||
| 293 |
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64 | a_plus[k] += alpha; |
| 294 |
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64 | forwardKinematics(model, data_plus, q, v, a_plus); |
| 295 | |||
| 296 |
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64 | a_partial_da_fd.col(k) = |
| 297 |
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128 | (getFrameAcceleration(model, data_plus, frameId, WORLD) - a0).toVector() / alpha; |
| 298 |
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64 | a_partial_da_fd_local_world_aligned.col(k) = |
| 299 |
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64 | (getFrameAcceleration(model, data_plus, frameId, LOCAL_WORLD_ALIGNED) |
| 300 |
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64 | - a0_local_world_aligned) |
| 301 |
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64 | .toVector() |
| 302 |
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128 | / alpha; |
| 303 |
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64 | a_partial_da_fd_local.col(k) = |
| 304 |
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128 | (getFrameAcceleration(model, data_plus, frameId, LOCAL) - a0_local).toVector() / alpha; |
| 305 |
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64 | a_plus[k] -= alpha; |
| 306 | } | ||
| 307 |
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2 | BOOST_CHECK(a_partial_da.isApprox(a_partial_da_fd, sqrt(alpha))); |
| 308 |
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2 | BOOST_CHECK( |
| 309 | a_partial_da_local_world_aligned.isApprox(a_partial_da_fd_local_world_aligned, sqrt(alpha))); | ||
| 310 |
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2 | BOOST_CHECK(a_partial_da_local.isApprox(a_partial_da_fd_local, sqrt(alpha))); |
| 311 | |||
| 312 | // dacc/dv | ||
| 313 |
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2 | Data::Matrix6x a_partial_dv_fd(6, model.nv); |
| 314 |
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2 | a_partial_dv_fd.setZero(); |
| 315 |
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2 | Data::Matrix6x a_partial_dv_fd_local_world_aligned(6, model.nv); |
| 316 |
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2 | a_partial_dv_fd_local_world_aligned.setZero(); |
| 317 |
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2 | Data::Matrix6x a_partial_dv_fd_local(6, model.nv); |
| 318 |
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2 | a_partial_dv_fd_local.setZero(); |
| 319 |
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66 | for (int k = 0; k < model.nv; ++k) |
| 320 | { | ||
| 321 |
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64 | v_plus[k] += alpha; |
| 322 |
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64 | forwardKinematics(model, data_plus, q, v_plus, a); |
| 323 | |||
| 324 |
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64 | a_partial_dv_fd.col(k) = |
| 325 |
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128 | (getFrameAcceleration(model, data_plus, frameId, WORLD) - a0).toVector() / alpha; |
| 326 |
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64 | a_partial_dv_fd_local_world_aligned.col(k) = |
| 327 |
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64 | (getFrameAcceleration(model, data_plus, frameId, LOCAL_WORLD_ALIGNED) |
| 328 |
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64 | - a0_local_world_aligned) |
| 329 |
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64 | .toVector() |
| 330 |
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128 | / alpha; |
| 331 |
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64 | a_partial_dv_fd_local.col(k) = |
| 332 |
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128 | (getFrameAcceleration(model, data_plus, frameId, LOCAL) - a0_local).toVector() / alpha; |
| 333 |
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64 | v_plus[k] -= alpha; |
| 334 | } | ||
| 335 | |||
| 336 |
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2 | BOOST_CHECK(a_partial_dv.isApprox(a_partial_dv_fd, sqrt(alpha))); |
| 337 |
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2 | BOOST_CHECK( |
| 338 | a_partial_dv_local_world_aligned.isApprox(a_partial_dv_fd_local_world_aligned, sqrt(alpha))); | ||
| 339 |
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2 | BOOST_CHECK(a_partial_dv_local.isApprox(a_partial_dv_fd_local, sqrt(alpha))); |
| 340 | |||
| 341 | // dacc/dq | ||
| 342 |
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2 | a_partial_dq.setZero(); |
| 343 |
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2 | a_partial_dv.setZero(); |
| 344 |
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2 | a_partial_da.setZero(); |
| 345 | |||
| 346 |
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2 | a_partial_dq_local_world_aligned.setZero(); |
| 347 |
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2 | a_partial_dv_local_world_aligned.setZero(); |
| 348 |
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2 | a_partial_da_local_world_aligned.setZero(); |
| 349 | |||
| 350 |
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2 | a_partial_dq_local.setZero(); |
| 351 |
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2 | a_partial_dv_local.setZero(); |
| 352 |
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2 | a_partial_da_local.setZero(); |
| 353 | |||
| 354 |
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2 | Data::Matrix6x a_partial_dq_fd(6, model.nv); |
| 355 |
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2 | a_partial_dq_fd.setZero(); |
| 356 |
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2 | Data::Matrix6x a_partial_dq_fd_local_world_aligned(6, model.nv); |
| 357 |
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2 | a_partial_dq_fd_local_world_aligned.setZero(); |
| 358 |
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2 | Data::Matrix6x a_partial_dq_fd_local(6, model.nv); |
| 359 |
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2 | a_partial_dq_fd_local.setZero(); |
| 360 | |||
| 361 |
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2 | computeForwardKinematicsDerivatives(model, data, q, v, a); |
| 362 |
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2 | getFrameAccelerationDerivatives( |
| 363 | model, data, frameId, WORLD, v_partial_dq, a_partial_dq, a_partial_dv, a_partial_da); | ||
| 364 | |||
| 365 |
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2 | getFrameAccelerationDerivatives( |
| 366 | model, data, frameId, LOCAL_WORLD_ALIGNED, v_partial_dq_local_world_aligned, | ||
| 367 | a_partial_dq_local_world_aligned, a_partial_dv_local_world_aligned, | ||
| 368 | a_partial_da_local_world_aligned); | ||
| 369 | |||
| 370 |
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2 | getFrameAccelerationDerivatives( |
| 371 | model, data, frameId, LOCAL, v_partial_dq_local, a_partial_dq_local, a_partial_dv_local, | ||
| 372 | a_partial_da_local); | ||
| 373 | |||
| 374 |
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2 | Eigen::VectorXd q_plus(q), v_eps(Eigen::VectorXd::Zero(model.nv)); |
| 375 |
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2 | forwardKinematics(model, data_ref, q, v, a); |
| 376 |
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2 | updateFramePlacements(model, data_ref); |
| 377 |
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2 | a0 = getFrameAcceleration(model, data, frameId, WORLD); |
| 378 |
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2 | a0_local_world_aligned = getFrameAcceleration(model, data, frameId, LOCAL_WORLD_ALIGNED); |
| 379 |
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2 | a0_local = getFrameAcceleration(model, data, frameId, LOCAL); |
| 380 | |||
| 381 |
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66 | for (int k = 0; k < model.nv; ++k) |
| 382 | { | ||
| 383 |
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64 | v_eps[k] += alpha; |
| 384 |
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64 | q_plus = integrate(model, q, v_eps); |
| 385 |
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64 | forwardKinematics(model, data_plus, q_plus, v, a); |
| 386 |
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64 | updateFramePlacements(model, data_plus); |
| 387 | |||
| 388 |
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64 | a_partial_dq_fd.col(k) = |
| 389 |
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128 | (getFrameAcceleration(model, data_plus, frameId, WORLD) - a0).toVector() / alpha; |
| 390 | Motion a_plus_local_world_aligned = | ||
| 391 |
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64 | getFrameAcceleration(model, data_plus, frameId, LOCAL_WORLD_ALIGNED); |
| 392 | const SE3::Vector3 trans = | ||
| 393 |
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64 | data_plus.oMf[frameId].translation() - data_ref.oMf[frameId].translation(); |
| 394 |
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64 | a_plus_local_world_aligned.linear() -= a_plus_local_world_aligned.angular().cross(trans); |
| 395 |
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64 | a_partial_dq_fd_local_world_aligned.col(k) = |
| 396 |
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128 | (a_plus_local_world_aligned - a0_local_world_aligned).toVector() / alpha; |
| 397 |
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64 | a_partial_dq_fd_local.col(k) = |
| 398 |
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128 | (getFrameAcceleration(model, data_plus, frameId, LOCAL) - a0_local).toVector() / alpha; |
| 399 |
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64 | v_eps[k] -= alpha; |
| 400 | } | ||
| 401 | |||
| 402 |
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2 | BOOST_CHECK(a_partial_dq.isApprox(a_partial_dq_fd, sqrt(alpha))); |
| 403 |
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2 | BOOST_CHECK( |
| 404 | a_partial_dq_local_world_aligned.isApprox(a_partial_dq_fd_local_world_aligned, sqrt(alpha))); | ||
| 405 |
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2 | BOOST_CHECK(a_partial_dq_local.isApprox(a_partial_dq_fd_local, sqrt(alpha))); |
| 406 | |||
| 407 | // Test other signatures | ||
| 408 |
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2 | Data::Matrix6x v_partial_dq_other(6, model.nv); |
| 409 |
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2 | v_partial_dq_other.setZero(); |
| 410 |
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2 | Data::Matrix6x v_partial_dq_local_other(6, model.nv); |
| 411 |
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2 | v_partial_dq_local_other.setZero(); |
| 412 |
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2 | Data::Matrix6x v_partial_dq_local_world_aligned_other(6, model.nv); |
| 413 |
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2 | v_partial_dq_local_world_aligned_other.setZero(); |
| 414 |
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2 | Data::Matrix6x v_partial_dv_other(6, model.nv); |
| 415 |
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2 | v_partial_dv_other.setZero(); |
| 416 |
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2 | Data::Matrix6x v_partial_dv_local_other(6, model.nv); |
| 417 |
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2 | v_partial_dv_local_other.setZero(); |
| 418 |
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2 | Data::Matrix6x v_partial_dv_local_world_aligned_other(6, model.nv); |
| 419 |
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2 | v_partial_dv_local_world_aligned_other.setZero(); |
| 420 |
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2 | Data::Matrix6x a_partial_dq_other(6, model.nv); |
| 421 |
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2 | a_partial_dq_other.setZero(); |
| 422 |
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2 | Data::Matrix6x a_partial_dq_local_world_aligned_other(6, model.nv); |
| 423 |
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2 | a_partial_dq_local_world_aligned_other.setZero(); |
| 424 |
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2 | Data::Matrix6x a_partial_dq_local_other(6, model.nv); |
| 425 |
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2 | a_partial_dq_local_other.setZero(); |
| 426 |
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2 | Data::Matrix6x a_partial_dv_other(6, model.nv); |
| 427 |
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2 | a_partial_dv_other.setZero(); |
| 428 |
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2 | Data::Matrix6x a_partial_dv_local_world_aligned_other(6, model.nv); |
| 429 |
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2 | a_partial_dv_local_world_aligned_other.setZero(); |
| 430 |
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2 | Data::Matrix6x a_partial_dv_local_other(6, model.nv); |
| 431 |
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2 | a_partial_dv_local_other.setZero(); |
| 432 |
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2 | Data::Matrix6x a_partial_da_other(6, model.nv); |
| 433 |
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2 | a_partial_da_other.setZero(); |
| 434 |
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2 | Data::Matrix6x a_partial_da_local_world_aligned_other(6, model.nv); |
| 435 |
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2 | a_partial_da_local_world_aligned_other.setZero(); |
| 436 |
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2 | Data::Matrix6x a_partial_da_local_other(6, model.nv); |
| 437 |
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2 | a_partial_da_local_other.setZero(); |
| 438 | |||
| 439 |
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2 | getFrameAccelerationDerivatives( |
| 440 | model, data, frameId, WORLD, v_partial_dq_other, v_partial_dv_other, a_partial_dq_other, | ||
| 441 | a_partial_dv_other, a_partial_da_other); | ||
| 442 | |||
| 443 |
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2 | BOOST_CHECK(v_partial_dq_other.isApprox(v_partial_dq)); |
| 444 |
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2 | BOOST_CHECK(v_partial_dv_other.isApprox(a_partial_da)); |
| 445 |
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2 | BOOST_CHECK(a_partial_dq_other.isApprox(a_partial_dq)); |
| 446 |
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2 | BOOST_CHECK(a_partial_dv_other.isApprox(a_partial_dv)); |
| 447 |
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2 | BOOST_CHECK(a_partial_da_other.isApprox(a_partial_da)); |
| 448 | |||
| 449 |
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2 | getFrameAccelerationDerivatives( |
| 450 | model, data, frameId, LOCAL_WORLD_ALIGNED, v_partial_dq_local_world_aligned_other, | ||
| 451 | v_partial_dv_local_world_aligned_other, a_partial_dq_local_world_aligned_other, | ||
| 452 | a_partial_dv_local_world_aligned_other, a_partial_da_local_world_aligned_other); | ||
| 453 | |||
| 454 |
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2 | BOOST_CHECK(v_partial_dq_local_world_aligned_other.isApprox(v_partial_dq_local_world_aligned)); |
| 455 |
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2 | BOOST_CHECK(v_partial_dv_local_world_aligned_other.isApprox(a_partial_da_local_world_aligned)); |
| 456 |
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2 | BOOST_CHECK(a_partial_dq_local_world_aligned_other.isApprox(a_partial_dq_local_world_aligned)); |
| 457 |
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2 | BOOST_CHECK(a_partial_dv_local_world_aligned_other.isApprox(a_partial_dv_local_world_aligned)); |
| 458 |
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2 | BOOST_CHECK(a_partial_da_local_world_aligned_other.isApprox(a_partial_da_local_world_aligned)); |
| 459 | |||
| 460 |
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2 | getFrameAccelerationDerivatives( |
| 461 | model, data, frameId, LOCAL, v_partial_dq_local_other, v_partial_dv_local_other, | ||
| 462 | a_partial_dq_local_other, a_partial_dv_local_other, a_partial_da_local_other); | ||
| 463 | |||
| 464 |
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2 | BOOST_CHECK(v_partial_dq_local_other.isApprox(v_partial_dq_local)); |
| 465 |
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2 | BOOST_CHECK(v_partial_dv_local_other.isApprox(a_partial_da_local)); |
| 466 |
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2 | BOOST_CHECK(a_partial_dq_local_other.isApprox(a_partial_dq_local)); |
| 467 |
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2 | BOOST_CHECK(a_partial_dv_local_other.isApprox(a_partial_dv_local)); |
| 468 |
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2 | BOOST_CHECK(a_partial_da_local_other.isApprox(a_partial_da_local)); |
| 469 | 2 | } | |
| 470 | |||
| 471 | BOOST_AUTO_TEST_SUITE_END() | ||
| 472 |