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// |
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// Copyright (c) 2020 INRIA |
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// |
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#include "pinocchio/algorithm/jacobian.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/kinematics-derivatives.hpp" |
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#include "pinocchio/algorithm/frames.hpp" |
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#include "pinocchio/algorithm/frames-derivatives.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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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_frames_derivatives_velocity) |
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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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const Model::JointIndex jointId = model.existJointName("rarm2_joint") |
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? model.getJointId("rarm2_joint") |
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: (Model::Index)(model.njoints - 1); |
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Frame frame("rand", jointId, 0, SE3::Random(), OP_FRAME); |
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FrameIndex frameId = model.addFrame(frame); |
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BOOST_CHECK(model.getFrameId("rand") == frameId); |
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BOOST_CHECK(model.frames[frameId].parentJoint == jointId); |
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Data data(model), data_ref(model); |
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model.lowerPositionLimit.head<3>().fill(-1.); |
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model.upperPositionLimit.head<3>().fill(1.); |
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VectorXd q = randomConfiguration(model); |
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VectorXd v(VectorXd::Random(model.nv)); |
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VectorXd a(VectorXd::Random(model.nv)); |
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computeForwardKinematicsDerivatives(model, data, q, v, a); |
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Data::Matrix6x partial_dq(6, model.nv); |
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partial_dq.setZero(); |
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Data::Matrix6x partial_dq_local_world_aligned(6, model.nv); |
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partial_dq_local_world_aligned.setZero(); |
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Data::Matrix6x partial_dq_local(6, model.nv); |
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partial_dq_local.setZero(); |
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Data::Matrix6x partial_dv(6, model.nv); |
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partial_dv.setZero(); |
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Data::Matrix6x partial_dv_local_world_aligned(6, model.nv); |
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partial_dv_local_world_aligned.setZero(); |
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Data::Matrix6x partial_dv_local(6, model.nv); |
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partial_dv_local.setZero(); |
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getFrameVelocityDerivatives(model, data, frameId, WORLD, partial_dq, partial_dv); |
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getFrameVelocityDerivatives( |
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model, data, frameId, LOCAL_WORLD_ALIGNED, partial_dq_local_world_aligned, |
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partial_dv_local_world_aligned); |
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getFrameVelocityDerivatives(model, data, frameId, LOCAL, partial_dq_local, partial_dv_local); |
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Data::Matrix6x J_ref(6, model.nv); |
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J_ref.setZero(); |
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Data::Matrix6x J_ref_local_world_aligned(6, model.nv); |
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J_ref_local_world_aligned.setZero(); |
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Data::Matrix6x J_ref_local(6, model.nv); |
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J_ref_local.setZero(); |
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computeJointJacobians(model, data_ref, q); |
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getFrameJacobian(model, data_ref, frameId, WORLD, J_ref); |
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getFrameJacobian(model, data_ref, frameId, LOCAL_WORLD_ALIGNED, J_ref_local_world_aligned); |
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getFrameJacobian(model, data_ref, frameId, LOCAL, J_ref_local); |
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BOOST_CHECK(data_ref.oMf[frameId].isApprox(data.oMf[frameId])); |
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BOOST_CHECK(partial_dv.isApprox(J_ref)); |
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BOOST_CHECK(partial_dv_local_world_aligned.isApprox(J_ref_local_world_aligned)); |
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BOOST_CHECK(partial_dv_local.isApprox(J_ref_local)); |
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// Check against finite differences |
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Data::Matrix6x partial_dq_fd(6, model.nv); |
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partial_dq_fd.setZero(); |
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Data::Matrix6x partial_dq_fd_local_world_aligned(6, model.nv); |
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partial_dq_fd_local_world_aligned.setZero(); |
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Data::Matrix6x partial_dq_fd_local(6, model.nv); |
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partial_dq_fd_local.setZero(); |
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Data::Matrix6x partial_dv_fd(6, model.nv); |
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partial_dv_fd.setZero(); |
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Data::Matrix6x partial_dv_fd_local_world_aligned(6, model.nv); |
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partial_dv_fd_local_world_aligned.setZero(); |
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Data::Matrix6x partial_dv_fd_local(6, model.nv); |
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partial_dv_fd_local.setZero(); |
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const double alpha = 1e-8; |
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// dvel/dv |
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Eigen::VectorXd v_plus(v); |
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Data data_plus(model); |
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forwardKinematics(model, data_ref, q, v); |
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Motion v0 = getFrameVelocity(model, data, frameId, WORLD); |
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Motion v0_local_world_aligned = getFrameVelocity(model, data, frameId, LOCAL_WORLD_ALIGNED); |
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Motion v0_local = getFrameVelocity(model, data, frameId, LOCAL); |
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for (int k = 0; k < model.nv; ++k) |
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{ |
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v_plus[k] += alpha; |
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forwardKinematics(model, data_plus, q, v_plus); |
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partial_dv_fd.col(k) = |
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(getFrameVelocity(model, data_plus, frameId, WORLD) - v0).toVector() / alpha; |
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partial_dv_fd_local_world_aligned.col(k) = |
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(getFrameVelocity(model, data_plus, frameId, LOCAL_WORLD_ALIGNED) - v0_local_world_aligned) |
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.toVector() |
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/ alpha; |
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partial_dv_fd_local.col(k) = |
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(getFrameVelocity(model, data_plus, frameId, LOCAL) - v0_local).toVector() / alpha; |
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v_plus[k] -= alpha; |
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} |
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BOOST_CHECK(partial_dv.isApprox(partial_dv_fd, sqrt(alpha))); |
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BOOST_CHECK( |
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partial_dv_local_world_aligned.isApprox(partial_dv_fd_local_world_aligned, sqrt(alpha))); |
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BOOST_CHECK(partial_dv_local.isApprox(partial_dv_fd_local, sqrt(alpha))); |
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// dvel/dq |
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Eigen::VectorXd q_plus(q), v_eps(Eigen::VectorXd::Zero(model.nv)); |
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forwardKinematics(model, data_ref, q, v); |
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updateFramePlacements(model, data_ref); |
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for (int k = 0; k < model.nv; ++k) |
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{ |
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v_eps[k] += alpha; |
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q_plus = integrate(model, q, v_eps); |
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forwardKinematics(model, data_plus, q_plus, v); |
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updateFramePlacements(model, data_plus); |
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Motion v_plus_local_world_aligned = |
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getFrameVelocity(model, data_plus, frameId, LOCAL_WORLD_ALIGNED); |
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SE3::Vector3 trans = data_plus.oMf[frameId].translation() - data_ref.oMf[frameId].translation(); |
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v_plus_local_world_aligned.linear() -= v_plus_local_world_aligned.angular().cross(trans); |
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partial_dq_fd.col(k) = |
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(getFrameVelocity(model, data_plus, frameId, WORLD) - v0).toVector() / alpha; |
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partial_dq_fd_local_world_aligned.col(k) = |
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(v_plus_local_world_aligned - v0_local_world_aligned).toVector() / alpha; |
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partial_dq_fd_local.col(k) = |
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(getFrameVelocity(model, data_plus, frameId, LOCAL) - v0_local).toVector() / alpha; |
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v_eps[k] -= alpha; |
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} |
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BOOST_CHECK(partial_dq.isApprox(partial_dq_fd, sqrt(alpha))); |
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BOOST_CHECK( |
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partial_dq_local_world_aligned.isApprox(partial_dq_fd_local_world_aligned, sqrt(alpha))); |
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BOOST_CHECK(partial_dq_local.isApprox(partial_dq_fd_local, sqrt(alpha))); |
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} |
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BOOST_AUTO_TEST_CASE(test_kinematics_derivatives_acceleration) |
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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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const Model::JointIndex jointId = model.existJointName("rarm2_joint") |
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? model.getJointId("rarm2_joint") |
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: (Model::Index)(model.njoints - 1); |
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Frame frame("rand", jointId, 0, SE3::Random(), OP_FRAME); |
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FrameIndex frameId = model.addFrame(frame); |
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BOOST_CHECK(model.getFrameId("rand") == frameId); |
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BOOST_CHECK(model.frames[frameId].parentJoint == jointId); |
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Data data(model), data_ref(model); |
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model.lowerPositionLimit.head<3>().fill(-1.); |
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model.upperPositionLimit.head<3>().fill(1.); |
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VectorXd q = randomConfiguration(model); |
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VectorXd v(VectorXd::Random(model.nv)); |
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VectorXd a(VectorXd::Random(model.nv)); |
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computeForwardKinematicsDerivatives(model, data, q, v, a); |
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Data::Matrix6x v_partial_dq(6, model.nv); |
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v_partial_dq.setZero(); |
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Data::Matrix6x v_partial_dq_local(6, model.nv); |
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v_partial_dq_local.setZero(); |
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Data::Matrix6x v_partial_dq_local_world_aligned(6, model.nv); |
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v_partial_dq_local_world_aligned.setZero(); |
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Data::Matrix6x a_partial_dq(6, model.nv); |
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a_partial_dq.setZero(); |
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Data::Matrix6x a_partial_dq_local_world_aligned(6, model.nv); |
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a_partial_dq_local_world_aligned.setZero(); |
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Data::Matrix6x a_partial_dq_local(6, model.nv); |
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a_partial_dq_local.setZero(); |
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Data::Matrix6x a_partial_dv(6, model.nv); |
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a_partial_dv.setZero(); |
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Data::Matrix6x a_partial_dv_local_world_aligned(6, model.nv); |
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a_partial_dv_local_world_aligned.setZero(); |
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Data::Matrix6x a_partial_dv_local(6, model.nv); |
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a_partial_dv_local.setZero(); |
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Data::Matrix6x a_partial_da(6, model.nv); |
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a_partial_da.setZero(); |
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Data::Matrix6x a_partial_da_local_world_aligned(6, model.nv); |
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a_partial_da_local_world_aligned.setZero(); |
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Data::Matrix6x a_partial_da_local(6, model.nv); |
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a_partial_da_local.setZero(); |
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getFrameAccelerationDerivatives( |
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model, data, frameId, WORLD, v_partial_dq, a_partial_dq, a_partial_dv, a_partial_da); |
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getFrameAccelerationDerivatives( |
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model, data, frameId, LOCAL_WORLD_ALIGNED, v_partial_dq_local_world_aligned, |
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a_partial_dq_local_world_aligned, a_partial_dv_local_world_aligned, |
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a_partial_da_local_world_aligned); |
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getFrameAccelerationDerivatives( |
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model, data, frameId, LOCAL, v_partial_dq_local, a_partial_dq_local, a_partial_dv_local, |
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a_partial_da_local); |
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// Check v_partial_dq against getFrameVelocityDerivatives |
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{ |
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Data data_v(model); |
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computeForwardKinematicsDerivatives(model, data_v, q, v, a); |
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Data::Matrix6x v_partial_dq_ref(6, model.nv); |
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v_partial_dq_ref.setZero(); |
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Data::Matrix6x v_partial_dq_ref_local_world_aligned(6, model.nv); |
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v_partial_dq_ref_local_world_aligned.setZero(); |
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Data::Matrix6x v_partial_dq_ref_local(6, model.nv); |
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v_partial_dq_ref_local.setZero(); |
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Data::Matrix6x v_partial_dv_ref(6, model.nv); |
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v_partial_dv_ref.setZero(); |
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Data::Matrix6x v_partial_dv_ref_local_world_aligned(6, model.nv); |
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v_partial_dv_ref_local_world_aligned.setZero(); |
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Data::Matrix6x v_partial_dv_ref_local(6, model.nv); |
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v_partial_dv_ref_local.setZero(); |
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getFrameVelocityDerivatives(model, data_v, frameId, WORLD, v_partial_dq_ref, v_partial_dv_ref); |
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BOOST_CHECK(v_partial_dq.isApprox(v_partial_dq_ref)); |
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BOOST_CHECK(a_partial_da.isApprox(v_partial_dv_ref)); |
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getFrameVelocityDerivatives( |
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model, data_v, frameId, LOCAL_WORLD_ALIGNED, v_partial_dq_ref_local_world_aligned, |
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v_partial_dv_ref_local_world_aligned); |
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BOOST_CHECK(v_partial_dq_local_world_aligned.isApprox(v_partial_dq_ref_local_world_aligned)); |
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BOOST_CHECK(a_partial_da_local_world_aligned.isApprox(v_partial_dv_ref_local_world_aligned)); |
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getFrameVelocityDerivatives( |
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model, data_v, frameId, LOCAL, v_partial_dq_ref_local, v_partial_dv_ref_local); |
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BOOST_CHECK(v_partial_dq_local.isApprox(v_partial_dq_ref_local)); |
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BOOST_CHECK(a_partial_da_local.isApprox(v_partial_dv_ref_local)); |
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} |
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Data::Matrix6x J_ref(6, model.nv); |
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J_ref.setZero(); |
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Data::Matrix6x J_ref_local(6, model.nv); |
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J_ref_local.setZero(); |
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Data::Matrix6x J_ref_local_world_aligned(6, model.nv); |
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J_ref_local_world_aligned.setZero(); |
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computeJointJacobians(model, data_ref, q); |
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getFrameJacobian(model, data_ref, frameId, WORLD, J_ref); |
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getFrameJacobian(model, data_ref, frameId, LOCAL_WORLD_ALIGNED, J_ref_local_world_aligned); |
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getFrameJacobian(model, data_ref, frameId, LOCAL, J_ref_local); |
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BOOST_CHECK(a_partial_da.isApprox(J_ref)); |
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BOOST_CHECK(a_partial_da_local_world_aligned.isApprox(J_ref_local_world_aligned)); |
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BOOST_CHECK(a_partial_da_local.isApprox(J_ref_local)); |
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// Check against finite differences |
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Data::Matrix6x a_partial_da_fd(6, model.nv); |
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a_partial_da_fd.setZero(); |
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Data::Matrix6x a_partial_da_fd_local_world_aligned(6, model.nv); |
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a_partial_da_fd_local_world_aligned.setZero(); |
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Data::Matrix6x a_partial_da_fd_local(6, model.nv); |
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a_partial_da_fd_local.setZero(); |
| 281 |
|
✗ |
const double alpha = 1e-8; |
| 282 |
|
|
|
| 283 |
|
✗ |
Eigen::VectorXd v_plus(v), a_plus(a); |
| 284 |
|
✗ |
Data data_plus(model); |
| 285 |
|
✗ |
forwardKinematics(model, data_ref, q, v, a); |
| 286 |
|
|
|
| 287 |
|
|
// dacc/da |
| 288 |
|
✗ |
Motion a0 = getFrameAcceleration(model, data, frameId, WORLD); |
| 289 |
|
✗ |
Motion a0_local_world_aligned = getFrameAcceleration(model, data, frameId, LOCAL_WORLD_ALIGNED); |
| 290 |
|
✗ |
Motion a0_local = getFrameAcceleration(model, data, frameId, LOCAL); |
| 291 |
|
✗ |
for (int k = 0; k < model.nv; ++k) |
| 292 |
|
|
{ |
| 293 |
|
✗ |
a_plus[k] += alpha; |
| 294 |
|
✗ |
forwardKinematics(model, data_plus, q, v, a_plus); |
| 295 |
|
|
|
| 296 |
|
✗ |
a_partial_da_fd.col(k) = |
| 297 |
|
✗ |
(getFrameAcceleration(model, data_plus, frameId, WORLD) - a0).toVector() / alpha; |
| 298 |
|
✗ |
a_partial_da_fd_local_world_aligned.col(k) = |
| 299 |
|
✗ |
(getFrameAcceleration(model, data_plus, frameId, LOCAL_WORLD_ALIGNED) |
| 300 |
|
✗ |
- a0_local_world_aligned) |
| 301 |
|
✗ |
.toVector() |
| 302 |
|
✗ |
/ alpha; |
| 303 |
|
✗ |
a_partial_da_fd_local.col(k) = |
| 304 |
|
✗ |
(getFrameAcceleration(model, data_plus, frameId, LOCAL) - a0_local).toVector() / alpha; |
| 305 |
|
✗ |
a_plus[k] -= alpha; |
| 306 |
|
|
} |
| 307 |
|
✗ |
BOOST_CHECK(a_partial_da.isApprox(a_partial_da_fd, sqrt(alpha))); |
| 308 |
|
✗ |
BOOST_CHECK( |
| 309 |
|
|
a_partial_da_local_world_aligned.isApprox(a_partial_da_fd_local_world_aligned, sqrt(alpha))); |
| 310 |
|
✗ |
BOOST_CHECK(a_partial_da_local.isApprox(a_partial_da_fd_local, sqrt(alpha))); |
| 311 |
|
|
|
| 312 |
|
|
// dacc/dv |
| 313 |
|
✗ |
Data::Matrix6x a_partial_dv_fd(6, model.nv); |
| 314 |
|
✗ |
a_partial_dv_fd.setZero(); |
| 315 |
|
✗ |
Data::Matrix6x a_partial_dv_fd_local_world_aligned(6, model.nv); |
| 316 |
|
✗ |
a_partial_dv_fd_local_world_aligned.setZero(); |
| 317 |
|
✗ |
Data::Matrix6x a_partial_dv_fd_local(6, model.nv); |
| 318 |
|
✗ |
a_partial_dv_fd_local.setZero(); |
| 319 |
|
✗ |
for (int k = 0; k < model.nv; ++k) |
| 320 |
|
|
{ |
| 321 |
|
✗ |
v_plus[k] += alpha; |
| 322 |
|
✗ |
forwardKinematics(model, data_plus, q, v_plus, a); |
| 323 |
|
|
|
| 324 |
|
✗ |
a_partial_dv_fd.col(k) = |
| 325 |
|
✗ |
(getFrameAcceleration(model, data_plus, frameId, WORLD) - a0).toVector() / alpha; |
| 326 |
|
✗ |
a_partial_dv_fd_local_world_aligned.col(k) = |
| 327 |
|
✗ |
(getFrameAcceleration(model, data_plus, frameId, LOCAL_WORLD_ALIGNED) |
| 328 |
|
✗ |
- a0_local_world_aligned) |
| 329 |
|
✗ |
.toVector() |
| 330 |
|
✗ |
/ alpha; |
| 331 |
|
✗ |
a_partial_dv_fd_local.col(k) = |
| 332 |
|
✗ |
(getFrameAcceleration(model, data_plus, frameId, LOCAL) - a0_local).toVector() / alpha; |
| 333 |
|
✗ |
v_plus[k] -= alpha; |
| 334 |
|
|
} |
| 335 |
|
|
|
| 336 |
|
✗ |
BOOST_CHECK(a_partial_dv.isApprox(a_partial_dv_fd, sqrt(alpha))); |
| 337 |
|
✗ |
BOOST_CHECK( |
| 338 |
|
|
a_partial_dv_local_world_aligned.isApprox(a_partial_dv_fd_local_world_aligned, sqrt(alpha))); |
| 339 |
|
✗ |
BOOST_CHECK(a_partial_dv_local.isApprox(a_partial_dv_fd_local, sqrt(alpha))); |
| 340 |
|
|
|
| 341 |
|
|
// dacc/dq |
| 342 |
|
✗ |
a_partial_dq.setZero(); |
| 343 |
|
✗ |
a_partial_dv.setZero(); |
| 344 |
|
✗ |
a_partial_da.setZero(); |
| 345 |
|
|
|
| 346 |
|
✗ |
a_partial_dq_local_world_aligned.setZero(); |
| 347 |
|
✗ |
a_partial_dv_local_world_aligned.setZero(); |
| 348 |
|
✗ |
a_partial_da_local_world_aligned.setZero(); |
| 349 |
|
|
|
| 350 |
|
✗ |
a_partial_dq_local.setZero(); |
| 351 |
|
✗ |
a_partial_dv_local.setZero(); |
| 352 |
|
✗ |
a_partial_da_local.setZero(); |
| 353 |
|
|
|
| 354 |
|
✗ |
Data::Matrix6x a_partial_dq_fd(6, model.nv); |
| 355 |
|
✗ |
a_partial_dq_fd.setZero(); |
| 356 |
|
✗ |
Data::Matrix6x a_partial_dq_fd_local_world_aligned(6, model.nv); |
| 357 |
|
✗ |
a_partial_dq_fd_local_world_aligned.setZero(); |
| 358 |
|
✗ |
Data::Matrix6x a_partial_dq_fd_local(6, model.nv); |
| 359 |
|
✗ |
a_partial_dq_fd_local.setZero(); |
| 360 |
|
|
|
| 361 |
|
✗ |
computeForwardKinematicsDerivatives(model, data, q, v, a); |
| 362 |
|
✗ |
getFrameAccelerationDerivatives( |
| 363 |
|
|
model, data, frameId, WORLD, v_partial_dq, a_partial_dq, a_partial_dv, a_partial_da); |
| 364 |
|
|
|
| 365 |
|
✗ |
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 |
|
✗ |
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 |
|
✗ |
Eigen::VectorXd q_plus(q), v_eps(Eigen::VectorXd::Zero(model.nv)); |
| 375 |
|
✗ |
forwardKinematics(model, data_ref, q, v, a); |
| 376 |
|
✗ |
updateFramePlacements(model, data_ref); |
| 377 |
|
✗ |
a0 = getFrameAcceleration(model, data, frameId, WORLD); |
| 378 |
|
✗ |
a0_local_world_aligned = getFrameAcceleration(model, data, frameId, LOCAL_WORLD_ALIGNED); |
| 379 |
|
✗ |
a0_local = getFrameAcceleration(model, data, frameId, LOCAL); |
| 380 |
|
|
|
| 381 |
|
✗ |
for (int k = 0; k < model.nv; ++k) |
| 382 |
|
|
{ |
| 383 |
|
✗ |
v_eps[k] += alpha; |
| 384 |
|
✗ |
q_plus = integrate(model, q, v_eps); |
| 385 |
|
✗ |
forwardKinematics(model, data_plus, q_plus, v, a); |
| 386 |
|
✗ |
updateFramePlacements(model, data_plus); |
| 387 |
|
|
|
| 388 |
|
✗ |
a_partial_dq_fd.col(k) = |
| 389 |
|
✗ |
(getFrameAcceleration(model, data_plus, frameId, WORLD) - a0).toVector() / alpha; |
| 390 |
|
|
Motion a_plus_local_world_aligned = |
| 391 |
|
✗ |
getFrameAcceleration(model, data_plus, frameId, LOCAL_WORLD_ALIGNED); |
| 392 |
|
|
const SE3::Vector3 trans = |
| 393 |
|
✗ |
data_plus.oMf[frameId].translation() - data_ref.oMf[frameId].translation(); |
| 394 |
|
✗ |
a_plus_local_world_aligned.linear() -= a_plus_local_world_aligned.angular().cross(trans); |
| 395 |
|
✗ |
a_partial_dq_fd_local_world_aligned.col(k) = |
| 396 |
|
✗ |
(a_plus_local_world_aligned - a0_local_world_aligned).toVector() / alpha; |
| 397 |
|
✗ |
a_partial_dq_fd_local.col(k) = |
| 398 |
|
✗ |
(getFrameAcceleration(model, data_plus, frameId, LOCAL) - a0_local).toVector() / alpha; |
| 399 |
|
✗ |
v_eps[k] -= alpha; |
| 400 |
|
|
} |
| 401 |
|
|
|
| 402 |
|
✗ |
BOOST_CHECK(a_partial_dq.isApprox(a_partial_dq_fd, sqrt(alpha))); |
| 403 |
|
✗ |
BOOST_CHECK( |
| 404 |
|
|
a_partial_dq_local_world_aligned.isApprox(a_partial_dq_fd_local_world_aligned, sqrt(alpha))); |
| 405 |
|
✗ |
BOOST_CHECK(a_partial_dq_local.isApprox(a_partial_dq_fd_local, sqrt(alpha))); |
| 406 |
|
|
|
| 407 |
|
|
// Test other signatures |
| 408 |
|
✗ |
Data::Matrix6x v_partial_dq_other(6, model.nv); |
| 409 |
|
✗ |
v_partial_dq_other.setZero(); |
| 410 |
|
✗ |
Data::Matrix6x v_partial_dq_local_other(6, model.nv); |
| 411 |
|
✗ |
v_partial_dq_local_other.setZero(); |
| 412 |
|
✗ |
Data::Matrix6x v_partial_dq_local_world_aligned_other(6, model.nv); |
| 413 |
|
✗ |
v_partial_dq_local_world_aligned_other.setZero(); |
| 414 |
|
✗ |
Data::Matrix6x v_partial_dv_other(6, model.nv); |
| 415 |
|
✗ |
v_partial_dv_other.setZero(); |
| 416 |
|
✗ |
Data::Matrix6x v_partial_dv_local_other(6, model.nv); |
| 417 |
|
✗ |
v_partial_dv_local_other.setZero(); |
| 418 |
|
✗ |
Data::Matrix6x v_partial_dv_local_world_aligned_other(6, model.nv); |
| 419 |
|
✗ |
v_partial_dv_local_world_aligned_other.setZero(); |
| 420 |
|
✗ |
Data::Matrix6x a_partial_dq_other(6, model.nv); |
| 421 |
|
✗ |
a_partial_dq_other.setZero(); |
| 422 |
|
✗ |
Data::Matrix6x a_partial_dq_local_world_aligned_other(6, model.nv); |
| 423 |
|
✗ |
a_partial_dq_local_world_aligned_other.setZero(); |
| 424 |
|
✗ |
Data::Matrix6x a_partial_dq_local_other(6, model.nv); |
| 425 |
|
✗ |
a_partial_dq_local_other.setZero(); |
| 426 |
|
✗ |
Data::Matrix6x a_partial_dv_other(6, model.nv); |
| 427 |
|
✗ |
a_partial_dv_other.setZero(); |
| 428 |
|
✗ |
Data::Matrix6x a_partial_dv_local_world_aligned_other(6, model.nv); |
| 429 |
|
✗ |
a_partial_dv_local_world_aligned_other.setZero(); |
| 430 |
|
✗ |
Data::Matrix6x a_partial_dv_local_other(6, model.nv); |
| 431 |
|
✗ |
a_partial_dv_local_other.setZero(); |
| 432 |
|
✗ |
Data::Matrix6x a_partial_da_other(6, model.nv); |
| 433 |
|
✗ |
a_partial_da_other.setZero(); |
| 434 |
|
✗ |
Data::Matrix6x a_partial_da_local_world_aligned_other(6, model.nv); |
| 435 |
|
✗ |
a_partial_da_local_world_aligned_other.setZero(); |
| 436 |
|
✗ |
Data::Matrix6x a_partial_da_local_other(6, model.nv); |
| 437 |
|
✗ |
a_partial_da_local_other.setZero(); |
| 438 |
|
|
|
| 439 |
|
✗ |
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 |
|
✗ |
BOOST_CHECK(v_partial_dq_other.isApprox(v_partial_dq)); |
| 444 |
|
✗ |
BOOST_CHECK(v_partial_dv_other.isApprox(a_partial_da)); |
| 445 |
|
✗ |
BOOST_CHECK(a_partial_dq_other.isApprox(a_partial_dq)); |
| 446 |
|
✗ |
BOOST_CHECK(a_partial_dv_other.isApprox(a_partial_dv)); |
| 447 |
|
✗ |
BOOST_CHECK(a_partial_da_other.isApprox(a_partial_da)); |
| 448 |
|
|
|
| 449 |
|
✗ |
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 |
|
✗ |
BOOST_CHECK(v_partial_dq_local_world_aligned_other.isApprox(v_partial_dq_local_world_aligned)); |
| 455 |
|
✗ |
BOOST_CHECK(v_partial_dv_local_world_aligned_other.isApprox(a_partial_da_local_world_aligned)); |
| 456 |
|
✗ |
BOOST_CHECK(a_partial_dq_local_world_aligned_other.isApprox(a_partial_dq_local_world_aligned)); |
| 457 |
|
✗ |
BOOST_CHECK(a_partial_dv_local_world_aligned_other.isApprox(a_partial_dv_local_world_aligned)); |
| 458 |
|
✗ |
BOOST_CHECK(a_partial_da_local_world_aligned_other.isApprox(a_partial_da_local_world_aligned)); |
| 459 |
|
|
|
| 460 |
|
✗ |
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 |
|
✗ |
BOOST_CHECK(v_partial_dq_local_other.isApprox(v_partial_dq_local)); |
| 465 |
|
✗ |
BOOST_CHECK(v_partial_dv_local_other.isApprox(a_partial_da_local)); |
| 466 |
|
✗ |
BOOST_CHECK(a_partial_dq_local_other.isApprox(a_partial_dq_local)); |
| 467 |
|
✗ |
BOOST_CHECK(a_partial_dv_local_other.isApprox(a_partial_dv_local)); |
| 468 |
|
✗ |
BOOST_CHECK(a_partial_da_local_other.isApprox(a_partial_da_local)); |
| 469 |
|
|
} |
| 470 |
|
|
|
| 471 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
| 472 |
|
|
|