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// |
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// Copyright (c) 2016-2020 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/algorithm/model.hpp" |
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#include "pinocchio/algorithm/jacobian.hpp" |
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#include "pinocchio/algorithm/frames.hpp" |
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#include "pinocchio/algorithm/rnea.hpp" |
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#include "pinocchio/algorithm/crba.hpp" |
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#include "pinocchio/spatial/act-on-set.hpp" |
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#include "pinocchio/multibody/sample-models.hpp" |
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#include "pinocchio/utils/timer.hpp" |
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#include "pinocchio/algorithm/joint-configuration.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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template<typename Derived> |
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inline bool isFinite(const Eigen::MatrixBase<Derived> & x) |
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{ |
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return ((x - x).array() == (x - x).array()).all(); |
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} |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(frame_basic) |
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{ |
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using namespace pinocchio; |
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Model model; |
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buildModels::humanoidRandom(model); |
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BOOST_CHECK(model.frames.size() >= size_t(model.njoints)); |
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for (Model::FrameVector::const_iterator it = model.frames.begin(); it != model.frames.end(); ++it) |
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{ |
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const Frame & frame = *it; |
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BOOST_CHECK(frame == frame); |
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Frame frame_copy(frame); |
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BOOST_CHECK(frame_copy == frame); |
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} |
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Frame frame1("toto", 0, 0, SE3::Random(), OP_FRAME); |
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std::ostringstream os; |
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os << frame1 << std::endl; |
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BOOST_CHECK(!os.str().empty()); |
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// Check other signature |
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Frame frame2("toto", 0, frame1.placement, OP_FRAME); |
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BOOST_CHECK(frame1 == frame2); |
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} |
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BOOST_AUTO_TEST_CASE(cast) |
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{ |
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using namespace pinocchio; |
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Frame frame("toto", 0, 0, SE3::Random(), OP_FRAME); |
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BOOST_CHECK(frame.cast<double>() == frame); |
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BOOST_CHECK(frame.cast<double>().cast<long double>() == frame.cast<long double>()); |
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typedef FrameTpl<long double> Frameld; |
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Frameld frame2(frame); |
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BOOST_CHECK(frame2 == frame.cast<long double>()); |
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} |
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BOOST_AUTO_TEST_CASE(test_kinematics) |
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{ |
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using namespace Eigen; |
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using namespace pinocchio; |
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pinocchio::Model model; |
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pinocchio::buildModels::humanoidRandom(model); |
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Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint") |
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: (Model::Index)(model.njoints - 1); |
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const std::string & frame_name = std::string(model.names[parent_idx] + "_frame"); |
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const SE3 & framePlacement = SE3::Random(); |
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model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME)); |
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pinocchio::Data data(model); |
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VectorXd q = VectorXd::Ones(model.nq); |
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q.middleRows<4>(3).normalize(); |
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framesForwardKinematics(model, data, q); |
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BOOST_CHECK( |
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data.oMf[model.getFrameId(frame_name)].isApprox(data.oMi[parent_idx] * framePlacement)); |
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} |
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BOOST_AUTO_TEST_CASE(test_update_placements) |
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{ |
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using namespace Eigen; |
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using namespace pinocchio; |
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pinocchio::Model model; |
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pinocchio::buildModels::humanoidRandom(model); |
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Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint") |
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: (Model::Index)(model.njoints - 1); |
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const std::string & frame_name = std::string(model.names[parent_idx] + "_frame"); |
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const SE3 & framePlacement = SE3::Random(); |
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Model::FrameIndex frame_idx = |
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model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME)); |
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pinocchio::Data data(model); |
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pinocchio::Data data_ref(model); |
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VectorXd q = VectorXd::Ones(model.nq); |
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q.middleRows<4>(3).normalize(); |
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forwardKinematics(model, data, q); |
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updateFramePlacements(model, data); |
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framesForwardKinematics(model, data_ref, q); |
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BOOST_CHECK(data.oMf[frame_idx].isApprox(data_ref.oMf[frame_idx])); |
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} |
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BOOST_AUTO_TEST_CASE(test_update_single_placement) |
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{ |
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using namespace Eigen; |
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using namespace pinocchio; |
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pinocchio::Model model; |
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pinocchio::buildModels::humanoidRandom(model); |
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Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint") |
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: (Model::Index)(model.njoints - 1); |
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const std::string & frame_name = std::string(model.names[parent_idx] + "_frame"); |
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const SE3 & framePlacement = SE3::Random(); |
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Model::FrameIndex frame_idx = |
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model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME)); |
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pinocchio::Data data(model); |
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pinocchio::Data data_ref(model); |
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VectorXd q = VectorXd::Ones(model.nq); |
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q.middleRows<4>(3).normalize(); |
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forwardKinematics(model, data, q); |
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updateFramePlacement(model, data, frame_idx); |
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framesForwardKinematics(model, data_ref, q); |
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BOOST_CHECK(data.oMf[frame_idx].isApprox(data_ref.oMf[frame_idx])); |
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} |
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BOOST_AUTO_TEST_CASE(test_velocity) |
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{ |
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using namespace Eigen; |
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using namespace pinocchio; |
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pinocchio::Model model; |
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pinocchio::buildModels::humanoidRandom(model); |
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Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint") |
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: (Model::Index)(model.njoints - 1); |
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const std::string & frame_name = std::string(model.names[parent_idx] + "_frame"); |
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const SE3 & framePlacement = SE3::Random(); |
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Model::FrameIndex frame_idx = |
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model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME)); |
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pinocchio::Data data(model); |
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VectorXd q = VectorXd::Ones(model.nq); |
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q.middleRows<4>(3).normalize(); |
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VectorXd v = VectorXd::Ones(model.nv); |
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forwardKinematics(model, data, q, v); |
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Motion vf = getFrameVelocity(model, data, frame_idx); |
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BOOST_CHECK(vf.isApprox(framePlacement.actInv(data.v[parent_idx]))); |
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pinocchio::Data data_ref(model); |
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forwardKinematics(model, data_ref, q, v); |
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updateFramePlacements(model, data_ref); |
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Motion v_ref = getFrameVelocity(model, data_ref, frame_idx); |
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BOOST_CHECK(v_ref.isApprox(getFrameVelocity(model, data, frame_idx))); |
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BOOST_CHECK(v_ref.isApprox(getFrameVelocity(model, data, frame_idx, LOCAL))); |
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BOOST_CHECK( |
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data_ref.oMf[frame_idx].act(v_ref).isApprox(getFrameVelocity(model, data, frame_idx, WORLD))); |
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BOOST_CHECK(SE3(data_ref.oMf[frame_idx].rotation(), Eigen::Vector3d::Zero()) |
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.act(v_ref) |
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.isApprox(getFrameVelocity(model, data, frame_idx, LOCAL_WORLD_ALIGNED))); |
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} |
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BOOST_AUTO_TEST_CASE(test_acceleration) |
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{ |
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using namespace Eigen; |
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using namespace pinocchio; |
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pinocchio::Model model; |
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pinocchio::buildModels::humanoidRandom(model); |
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Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint") |
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: (Model::Index)(model.njoints - 1); |
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const std::string & frame_name = std::string(model.names[parent_idx] + "_frame"); |
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const SE3 & framePlacement = SE3::Random(); |
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Model::FrameIndex frame_idx = |
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model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME)); |
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pinocchio::Data data(model); |
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VectorXd q = VectorXd::Ones(model.nq); |
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q.middleRows<4>(3).normalize(); |
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VectorXd v = VectorXd::Ones(model.nv); |
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VectorXd a = VectorXd::Ones(model.nv); |
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forwardKinematics(model, data, q, v, a); |
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Motion af = getFrameAcceleration(model, data, frame_idx); |
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BOOST_CHECK(af.isApprox(framePlacement.actInv(data.a[parent_idx]))); |
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pinocchio::Data data_ref(model); |
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forwardKinematics(model, data_ref, q, v, a); |
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updateFramePlacements(model, data_ref); |
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Motion a_ref = getFrameAcceleration(model, data_ref, frame_idx); |
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BOOST_CHECK(a_ref.isApprox(getFrameAcceleration(model, data, frame_idx))); |
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BOOST_CHECK(a_ref.isApprox(getFrameAcceleration(model, data, frame_idx, LOCAL))); |
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BOOST_CHECK(data_ref.oMf[frame_idx].act(a_ref).isApprox( |
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getFrameAcceleration(model, data, frame_idx, WORLD))); |
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BOOST_CHECK(SE3(data_ref.oMf[frame_idx].rotation(), Eigen::Vector3d::Zero()) |
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.act(a_ref) |
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.isApprox(getFrameAcceleration(model, data, frame_idx, LOCAL_WORLD_ALIGNED))); |
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} |
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BOOST_AUTO_TEST_CASE(test_classic_acceleration) |
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{ |
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using namespace Eigen; |
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using namespace pinocchio; |
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pinocchio::Model model; |
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pinocchio::buildModels::humanoidRandom(model); |
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Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint") |
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: (Model::Index)(model.njoints - 1); |
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const std::string & frame_name = std::string(model.names[parent_idx] + "_frame"); |
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const SE3 & framePlacement = SE3::Random(); |
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Model::FrameIndex frame_idx = |
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model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME)); |
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pinocchio::Data data(model); |
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VectorXd q = VectorXd::Ones(model.nq); |
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q.middleRows<4>(3).normalize(); |
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VectorXd v = VectorXd::Ones(model.nv); |
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VectorXd a = VectorXd::Ones(model.nv); |
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forwardKinematics(model, data, q, v, a); |
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Motion vel = framePlacement.actInv(data.v[parent_idx]); |
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Motion acc = framePlacement.actInv(data.a[parent_idx]); |
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Vector3d linear; |
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Motion acc_classical_local = acc; |
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linear = acc.linear() + vel.angular().cross(vel.linear()); |
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acc_classical_local.linear() = linear; |
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Motion af = getFrameClassicalAcceleration(model, data, frame_idx); |
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BOOST_CHECK(af.isApprox(acc_classical_local)); |
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pinocchio::Data data_ref(model); |
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forwardKinematics(model, data_ref, q, v, a); |
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updateFramePlacements(model, data_ref); |
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SE3 T_ref = data_ref.oMf[frame_idx]; |
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Motion v_ref = getFrameVelocity(model, data_ref, frame_idx); |
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Motion a_ref = getFrameAcceleration(model, data_ref, frame_idx); |
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Motion acc_classical_local_ref = a_ref; |
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linear = a_ref.linear() + v_ref.angular().cross(v_ref.linear()); |
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acc_classical_local_ref.linear() = linear; |
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BOOST_CHECK( |
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acc_classical_local_ref.isApprox(getFrameClassicalAcceleration(model, data, frame_idx))); |
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BOOST_CHECK( |
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acc_classical_local_ref.isApprox(getFrameClassicalAcceleration(model, data, frame_idx, LOCAL))); |
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Motion vel_world_ref = T_ref.act(v_ref); |
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Motion acc_classical_world_ref = T_ref.act(a_ref); |
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linear = acc_classical_world_ref.linear() + vel_world_ref.angular().cross(vel_world_ref.linear()); |
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acc_classical_world_ref.linear() = linear; |
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BOOST_CHECK( |
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acc_classical_world_ref.isApprox(getFrameClassicalAcceleration(model, data, frame_idx, WORLD))); |
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Motion vel_aligned_ref = SE3(T_ref.rotation(), Eigen::Vector3d::Zero()).act(v_ref); |
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Motion acc_classical_aligned_ref = SE3(T_ref.rotation(), Eigen::Vector3d::Zero()).act(a_ref); |
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linear = |
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acc_classical_aligned_ref.linear() + vel_aligned_ref.angular().cross(vel_aligned_ref.linear()); |
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acc_classical_aligned_ref.linear() = linear; |
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BOOST_CHECK(acc_classical_aligned_ref.isApprox( |
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getFrameClassicalAcceleration(model, data, frame_idx, LOCAL_WORLD_ALIGNED))); |
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} |
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BOOST_AUTO_TEST_CASE(test_frame_getters) |
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{ |
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using namespace Eigen; |
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using namespace pinocchio; |
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// Build a simple 1R planar model |
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Model model; |
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JointIndex parentId = model.addJoint(0, JointModelRZ(), SE3::Identity(), "Joint1"); |
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FrameIndex frameId = model.addFrame( |
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Frame("Frame1", parentId, 0, SE3(Matrix3d::Identity(), Vector3d(1.0, 0.0, 0.0)), OP_FRAME)); |
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Data data(model); |
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// Predetermined configuration values |
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VectorXd q(model.nq); |
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q << M_PI / 2; |
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VectorXd v(model.nv); |
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|
✗ |
v << 1.0; |
| 309 |
|
|
|
| 310 |
|
✗ |
VectorXd a(model.nv); |
| 311 |
|
✗ |
a << 0.0; |
| 312 |
|
|
|
| 313 |
|
|
// Expected velocity |
| 314 |
|
✗ |
Motion v_local; |
| 315 |
|
✗ |
v_local.linear() = Vector3d(0.0, 1.0, 0.0); |
| 316 |
|
✗ |
v_local.angular() = Vector3d(0.0, 0.0, 1.0); |
| 317 |
|
|
|
| 318 |
|
✗ |
Motion v_world; |
| 319 |
|
✗ |
v_world.linear() = Vector3d::Zero(); |
| 320 |
|
✗ |
v_world.angular() = Vector3d(0.0, 0.0, 1.0); |
| 321 |
|
|
|
| 322 |
|
✗ |
Motion v_align; |
| 323 |
|
✗ |
v_align.linear() = Vector3d(-1.0, 0.0, 0.0); |
| 324 |
|
✗ |
v_align.angular() = Vector3d(0.0, 0.0, 1.0); |
| 325 |
|
|
|
| 326 |
|
|
// Expected classical acceleration |
| 327 |
|
✗ |
Motion ac_local; |
| 328 |
|
✗ |
ac_local.linear() = Vector3d(-1.0, 0.0, 0.0); |
| 329 |
|
✗ |
ac_local.angular() = Vector3d::Zero(); |
| 330 |
|
|
|
| 331 |
|
✗ |
Motion ac_world = Motion::Zero(); |
| 332 |
|
|
|
| 333 |
|
✗ |
Motion ac_align; |
| 334 |
|
✗ |
ac_align.linear() = Vector3d(0.0, -1.0, 0.0); |
| 335 |
|
✗ |
ac_align.angular() = Vector3d::Zero(); |
| 336 |
|
|
|
| 337 |
|
|
// Perform kinematics |
| 338 |
|
✗ |
forwardKinematics(model, data, q, v, a); |
| 339 |
|
|
|
| 340 |
|
|
// Check output velocity |
| 341 |
|
✗ |
BOOST_CHECK(v_local.isApprox(getFrameVelocity(model, data, frameId))); |
| 342 |
|
✗ |
BOOST_CHECK(v_local.isApprox(getFrameVelocity(model, data, frameId, LOCAL))); |
| 343 |
|
✗ |
BOOST_CHECK(v_world.isApprox(getFrameVelocity(model, data, frameId, WORLD))); |
| 344 |
|
✗ |
BOOST_CHECK(v_align.isApprox(getFrameVelocity(model, data, frameId, LOCAL_WORLD_ALIGNED))); |
| 345 |
|
|
|
| 346 |
|
|
// Check output acceleration (all zero) |
| 347 |
|
✗ |
BOOST_CHECK(getFrameAcceleration(model, data, frameId).isZero()); |
| 348 |
|
✗ |
BOOST_CHECK(getFrameAcceleration(model, data, frameId, LOCAL).isZero()); |
| 349 |
|
✗ |
BOOST_CHECK(getFrameAcceleration(model, data, frameId, WORLD).isZero()); |
| 350 |
|
✗ |
BOOST_CHECK(getFrameAcceleration(model, data, frameId, LOCAL_WORLD_ALIGNED).isZero()); |
| 351 |
|
|
|
| 352 |
|
|
// Check output classical acceleration |
| 353 |
|
✗ |
BOOST_CHECK(ac_local.isApprox(getFrameClassicalAcceleration(model, data, frameId))); |
| 354 |
|
✗ |
BOOST_CHECK(ac_local.isApprox(getFrameClassicalAcceleration(model, data, frameId, LOCAL))); |
| 355 |
|
✗ |
BOOST_CHECK(ac_world.isApprox(getFrameClassicalAcceleration(model, data, frameId, WORLD))); |
| 356 |
|
✗ |
BOOST_CHECK( |
| 357 |
|
|
ac_align.isApprox(getFrameClassicalAcceleration(model, data, frameId, LOCAL_WORLD_ALIGNED))); |
| 358 |
|
|
} |
| 359 |
|
|
|
| 360 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_get_frame_jacobian) |
| 361 |
|
|
{ |
| 362 |
|
|
using namespace Eigen; |
| 363 |
|
|
using namespace pinocchio; |
| 364 |
|
|
|
| 365 |
|
✗ |
Model model; |
| 366 |
|
✗ |
buildModels::humanoidRandom(model); |
| 367 |
|
✗ |
Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint") |
| 368 |
|
✗ |
: (Model::Index)(model.njoints - 1); |
| 369 |
|
✗ |
const std::string & frame_name = std::string(model.names[parent_idx] + "_frame"); |
| 370 |
|
✗ |
const SE3 & framePlacement = SE3::Random(); |
| 371 |
|
✗ |
model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME)); |
| 372 |
|
✗ |
BOOST_CHECK(model.existFrame(frame_name)); |
| 373 |
|
|
|
| 374 |
|
✗ |
pinocchio::Data data(model); |
| 375 |
|
✗ |
pinocchio::Data data_ref(model); |
| 376 |
|
|
|
| 377 |
|
✗ |
model.lowerPositionLimit.head<7>().fill(-1.); |
| 378 |
|
✗ |
model.upperPositionLimit.head<7>().fill(1.); |
| 379 |
|
✗ |
VectorXd q = randomConfiguration(model); |
| 380 |
|
✗ |
VectorXd v = VectorXd::Ones(model.nv); |
| 381 |
|
|
|
| 382 |
|
|
// In LOCAL frame |
| 383 |
|
✗ |
const Model::Index idx = model.getFrameId(frame_name); |
| 384 |
|
✗ |
const Frame & frame = model.frames[idx]; |
| 385 |
|
✗ |
BOOST_CHECK(frame.placement.isApprox_impl(framePlacement)); |
| 386 |
|
✗ |
Data::Matrix6x Jjj(6, model.nv); |
| 387 |
|
✗ |
Jjj.fill(0); |
| 388 |
|
✗ |
Data::Matrix6x Jff(6, model.nv); |
| 389 |
|
✗ |
Jff.fill(0); |
| 390 |
|
✗ |
Data::Matrix6x Jff2(6, model.nv); |
| 391 |
|
✗ |
Jff2.fill(0); |
| 392 |
|
|
|
| 393 |
|
✗ |
computeJointJacobians(model, data, q); |
| 394 |
|
✗ |
updateFramePlacement(model, data, idx); |
| 395 |
|
✗ |
getFrameJacobian(model, data, idx, LOCAL, Jff); |
| 396 |
|
✗ |
BOOST_CHECK(Jff.isApprox(getFrameJacobian(model, data, idx, LOCAL))); |
| 397 |
|
✗ |
computeJointJacobians(model, data_ref, q); |
| 398 |
|
✗ |
getJointJacobian(model, data_ref, parent_idx, LOCAL, Jjj); |
| 399 |
|
|
|
| 400 |
|
✗ |
Motion nu_frame = Motion(Jff * v); |
| 401 |
|
✗ |
Motion nu_joint = Motion(Jjj * v); |
| 402 |
|
|
|
| 403 |
|
✗ |
const SE3::ActionMatrixType jXf = frame.placement.toActionMatrix(); |
| 404 |
|
✗ |
Data::Matrix6x Jjj_from_frame(jXf * Jff); |
| 405 |
|
✗ |
BOOST_CHECK(Jjj_from_frame.isApprox(Jjj)); |
| 406 |
|
|
|
| 407 |
|
✗ |
BOOST_CHECK(nu_frame.isApprox(frame.placement.actInv(nu_joint))); |
| 408 |
|
|
|
| 409 |
|
|
// In WORLD frame |
| 410 |
|
✗ |
Jjj.fill(0); |
| 411 |
|
✗ |
Jff.fill(0); |
| 412 |
|
✗ |
Jff2.fill(0); |
| 413 |
|
✗ |
getFrameJacobian(model, data, idx, WORLD, Jff); |
| 414 |
|
✗ |
BOOST_CHECK(Jff.isApprox(getFrameJacobian(model, data, idx, WORLD))); |
| 415 |
|
✗ |
getJointJacobian(model, data_ref, parent_idx, WORLD, Jjj); |
| 416 |
|
✗ |
BOOST_CHECK(Jff.isApprox(Jjj)); |
| 417 |
|
|
|
| 418 |
|
✗ |
computeFrameJacobian(model, data, q, idx, WORLD, Jff2); |
| 419 |
|
|
|
| 420 |
|
✗ |
BOOST_CHECK(Jff2.isApprox(Jjj)); |
| 421 |
|
|
|
| 422 |
|
|
// In WORLD frame |
| 423 |
|
✗ |
Jjj.fill(0); |
| 424 |
|
✗ |
Jff.fill(0); |
| 425 |
|
✗ |
Jff2.fill(0); |
| 426 |
|
✗ |
getFrameJacobian(model, data, idx, LOCAL_WORLD_ALIGNED, Jff); |
| 427 |
|
✗ |
BOOST_CHECK(Jff.isApprox(getFrameJacobian(model, data, idx, LOCAL_WORLD_ALIGNED))); |
| 428 |
|
|
|
| 429 |
|
✗ |
getJointJacobian(model, data_ref, parent_idx, WORLD, Jjj); |
| 430 |
|
✗ |
const SE3 oMf_translation(SE3::Matrix3::Identity(), data.oMf[idx].translation()); |
| 431 |
|
✗ |
Jjj = oMf_translation.toActionMatrixInverse() * Jjj; |
| 432 |
|
✗ |
BOOST_CHECK(Jff.isApprox(Jjj)); |
| 433 |
|
|
|
| 434 |
|
✗ |
computeFrameJacobian(model, data, q, idx, LOCAL_WORLD_ALIGNED, Jff2); |
| 435 |
|
✗ |
BOOST_CHECK(Jff2.isApprox(Jff)); |
| 436 |
|
|
} |
| 437 |
|
|
|
| 438 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_frame_jacobian) |
| 439 |
|
|
{ |
| 440 |
|
|
using namespace Eigen; |
| 441 |
|
|
using namespace pinocchio; |
| 442 |
|
|
|
| 443 |
|
✗ |
Model model; |
| 444 |
|
✗ |
buildModels::humanoidRandom(model); |
| 445 |
|
✗ |
Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint") |
| 446 |
|
✗ |
: (Model::Index)(model.njoints - 1); |
| 447 |
|
✗ |
const std::string & frame_name = std::string(model.names[parent_idx] + "_frame"); |
| 448 |
|
✗ |
const SE3 & framePlacement = SE3::Random(); |
| 449 |
|
✗ |
model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME)); |
| 450 |
|
✗ |
BOOST_CHECK(model.existFrame(frame_name)); |
| 451 |
|
|
|
| 452 |
|
✗ |
pinocchio::Data data(model); |
| 453 |
|
✗ |
pinocchio::Data data_ref(model); |
| 454 |
|
|
|
| 455 |
|
✗ |
model.lowerPositionLimit.head<7>().fill(-1.); |
| 456 |
|
✗ |
model.upperPositionLimit.head<7>().fill(1.); |
| 457 |
|
✗ |
VectorXd q = randomConfiguration(model); |
| 458 |
|
✗ |
VectorXd v = VectorXd::Ones(model.nv); |
| 459 |
|
|
|
| 460 |
|
✗ |
Model::Index idx = model.getFrameId(frame_name); |
| 461 |
|
✗ |
const Frame & frame = model.frames[idx]; |
| 462 |
|
✗ |
BOOST_CHECK(frame.placement.isApprox_impl(framePlacement)); |
| 463 |
|
✗ |
Data::Matrix6x Jf(6, model.nv); |
| 464 |
|
✗ |
Jf.fill(0); |
| 465 |
|
✗ |
Data::Matrix6x Jf2(6, model.nv); |
| 466 |
|
✗ |
Jf2.fill(0); |
| 467 |
|
✗ |
Data::Matrix6x Jf_ref(6, model.nv); |
| 468 |
|
✗ |
Jf_ref.fill(0); |
| 469 |
|
|
|
| 470 |
|
✗ |
computeFrameJacobian(model, data_ref, q, idx, Jf); |
| 471 |
|
|
|
| 472 |
|
✗ |
computeJointJacobians(model, data_ref, q); |
| 473 |
|
✗ |
updateFramePlacement(model, data_ref, idx); |
| 474 |
|
✗ |
getFrameJacobian(model, data_ref, idx, LOCAL, Jf_ref); |
| 475 |
|
|
|
| 476 |
|
✗ |
BOOST_CHECK(Jf.isApprox(Jf_ref)); |
| 477 |
|
|
|
| 478 |
|
✗ |
computeFrameJacobian(model, data, q, idx, LOCAL, Jf2); |
| 479 |
|
|
|
| 480 |
|
✗ |
BOOST_CHECK(Jf2.isApprox(Jf_ref)); |
| 481 |
|
|
} |
| 482 |
|
|
|
| 483 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_frame_jacobian_local_world_oriented) |
| 484 |
|
|
{ |
| 485 |
|
|
using namespace Eigen; |
| 486 |
|
|
using namespace pinocchio; |
| 487 |
|
|
|
| 488 |
|
✗ |
Model model; |
| 489 |
|
✗ |
buildModels::humanoidRandom(model); |
| 490 |
|
✗ |
Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint") |
| 491 |
|
✗ |
: (Model::Index)(model.njoints - 1); |
| 492 |
|
✗ |
const std::string & frame_name = std::string(model.names[parent_idx] + "_frame"); |
| 493 |
|
✗ |
const SE3 & framePlacement = SE3::Random(); |
| 494 |
|
✗ |
model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME)); |
| 495 |
|
✗ |
BOOST_CHECK(model.existFrame(frame_name)); |
| 496 |
|
|
|
| 497 |
|
✗ |
pinocchio::Data data(model); |
| 498 |
|
|
|
| 499 |
|
✗ |
model.lowerPositionLimit.head<7>().fill(-1.); |
| 500 |
|
✗ |
model.upperPositionLimit.head<7>().fill(1.); |
| 501 |
|
✗ |
VectorXd q = randomConfiguration(model); |
| 502 |
|
✗ |
VectorXd v = VectorXd::Ones(model.nv); |
| 503 |
|
|
|
| 504 |
|
✗ |
Model::Index idx = model.getFrameId(frame_name); |
| 505 |
|
✗ |
Data::Matrix6x Jf(6, model.nv); |
| 506 |
|
✗ |
Jf.fill(0); |
| 507 |
|
✗ |
Data::Matrix6x Jf2(6, model.nv); |
| 508 |
|
✗ |
Jf2.fill(0); |
| 509 |
|
✗ |
Data::Matrix6x Jf_ref(6, model.nv); |
| 510 |
|
✗ |
Jf_ref.fill(0); |
| 511 |
|
|
|
| 512 |
|
✗ |
computeJointJacobians(model, data, q); |
| 513 |
|
✗ |
updateFramePlacement(model, data, idx); |
| 514 |
|
✗ |
getFrameJacobian(model, data, idx, LOCAL, Jf_ref); |
| 515 |
|
|
|
| 516 |
|
|
// Compute the jacobians. |
| 517 |
|
✗ |
Jf_ref = SE3(data.oMf[idx].rotation(), Eigen::Vector3d::Zero()).toActionMatrix() * Jf_ref; |
| 518 |
|
✗ |
getFrameJacobian(model, data, idx, LOCAL_WORLD_ALIGNED, Jf); |
| 519 |
|
|
|
| 520 |
|
✗ |
BOOST_CHECK(Jf.isApprox(Jf_ref)); |
| 521 |
|
|
|
| 522 |
|
✗ |
computeFrameJacobian(model, data, q, idx, LOCAL_WORLD_ALIGNED, Jf2); |
| 523 |
|
|
|
| 524 |
|
✗ |
BOOST_CHECK(Jf2.isApprox(Jf_ref)); |
| 525 |
|
|
} |
| 526 |
|
|
|
| 527 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_frame_jacobian_time_variation) |
| 528 |
|
|
{ |
| 529 |
|
|
using namespace Eigen; |
| 530 |
|
|
using namespace pinocchio; |
| 531 |
|
|
|
| 532 |
|
✗ |
pinocchio::Model model; |
| 533 |
|
✗ |
pinocchio::buildModels::humanoidRandom(model); |
| 534 |
|
✗ |
Model::Index parent_idx = model.existJointName("rarm2_joint") ? model.getJointId("rarm2_joint") |
| 535 |
|
✗ |
: (Model::Index)(model.njoints - 1); |
| 536 |
|
✗ |
const std::string & frame_name = std::string(model.names[parent_idx] + "_frame"); |
| 537 |
|
✗ |
const SE3 & framePlacement = SE3::Random(); |
| 538 |
|
✗ |
model.addFrame(Frame(frame_name, parent_idx, 0, framePlacement, OP_FRAME)); |
| 539 |
|
✗ |
pinocchio::Data data(model); |
| 540 |
|
✗ |
pinocchio::Data data_ref(model); |
| 541 |
|
|
|
| 542 |
|
|
VectorXd q = randomConfiguration( |
| 543 |
|
✗ |
model, -1 * Eigen::VectorXd::Ones(model.nq), Eigen::VectorXd::Ones(model.nq)); |
| 544 |
|
✗ |
VectorXd v = VectorXd::Random(model.nv); |
| 545 |
|
✗ |
VectorXd a = VectorXd::Random(model.nv); |
| 546 |
|
|
|
| 547 |
|
✗ |
computeJointJacobiansTimeVariation(model, data, q, v); |
| 548 |
|
✗ |
updateFramePlacements(model, data); |
| 549 |
|
|
|
| 550 |
|
✗ |
forwardKinematics(model, data_ref, q, v, a); |
| 551 |
|
✗ |
updateFramePlacements(model, data_ref); |
| 552 |
|
|
|
| 553 |
|
✗ |
BOOST_CHECK(isFinite(data.dJ)); |
| 554 |
|
|
|
| 555 |
|
✗ |
Model::Index idx = model.getFrameId(frame_name); |
| 556 |
|
✗ |
const Frame & frame = model.frames[idx]; |
| 557 |
|
✗ |
BOOST_CHECK(frame.placement.isApprox_impl(framePlacement)); |
| 558 |
|
|
|
| 559 |
|
✗ |
Data::Matrix6x J(6, model.nv); |
| 560 |
|
✗ |
J.fill(0.); |
| 561 |
|
✗ |
Data::Matrix6x dJ(6, model.nv); |
| 562 |
|
✗ |
dJ.fill(0.); |
| 563 |
|
|
|
| 564 |
|
|
// Regarding to the WORLD origin |
| 565 |
|
✗ |
getFrameJacobian(model, data, idx, WORLD, J); |
| 566 |
|
✗ |
getFrameJacobianTimeVariation(model, data, idx, WORLD, dJ); |
| 567 |
|
|
|
| 568 |
|
✗ |
Motion v_idx(J * v); |
| 569 |
|
✗ |
const Motion & v_ref_local = frame.placement.actInv(data_ref.v[parent_idx]); |
| 570 |
|
✗ |
const Motion & v_ref = data_ref.oMf[idx].act(v_ref_local); |
| 571 |
|
|
|
| 572 |
|
✗ |
const SE3 & wMf = SE3(data_ref.oMf[idx].rotation(), SE3::Vector3::Zero()); |
| 573 |
|
✗ |
const Motion & v_ref_local_world_aligned = wMf.act(v_ref_local); |
| 574 |
|
✗ |
BOOST_CHECK(v_idx.isApprox(v_ref)); |
| 575 |
|
|
|
| 576 |
|
✗ |
Motion a_idx(J * a + dJ * v); |
| 577 |
|
✗ |
const Motion & a_ref_local = frame.placement.actInv(data_ref.a[parent_idx]); |
| 578 |
|
✗ |
const Motion & a_ref = data_ref.oMf[idx].act(a_ref_local); |
| 579 |
|
✗ |
const Motion & a_ref_local_world_aligned = wMf.act(a_ref_local); |
| 580 |
|
✗ |
BOOST_CHECK(a_idx.isApprox(a_ref)); |
| 581 |
|
|
|
| 582 |
|
✗ |
J.fill(0.); |
| 583 |
|
✗ |
dJ.fill(0.); |
| 584 |
|
|
// Regarding to the LOCAL frame |
| 585 |
|
✗ |
getFrameJacobian(model, data, idx, LOCAL, J); |
| 586 |
|
✗ |
getFrameJacobianTimeVariation(model, data, idx, LOCAL, dJ); |
| 587 |
|
|
|
| 588 |
|
✗ |
v_idx = (Motion::Vector6)(J * v); |
| 589 |
|
✗ |
BOOST_CHECK(v_idx.isApprox(v_ref_local)); |
| 590 |
|
|
|
| 591 |
|
✗ |
a_idx = (Motion::Vector6)(J * a + dJ * v); |
| 592 |
|
✗ |
BOOST_CHECK(a_idx.isApprox(a_ref_local)); |
| 593 |
|
|
|
| 594 |
|
|
// Regarding to the LOCAL_WORLD_ALIGNED frame |
| 595 |
|
✗ |
getFrameJacobian(model, data, idx, LOCAL_WORLD_ALIGNED, J); |
| 596 |
|
✗ |
getFrameJacobianTimeVariation(model, data, idx, LOCAL_WORLD_ALIGNED, dJ); |
| 597 |
|
|
|
| 598 |
|
✗ |
v_idx = (Motion::Vector6)(J * v); |
| 599 |
|
✗ |
BOOST_CHECK(v_idx.isApprox(v_ref_local_world_aligned)); |
| 600 |
|
|
|
| 601 |
|
✗ |
a_idx = (Motion::Vector6)(J * a + dJ * v); |
| 602 |
|
✗ |
BOOST_CHECK(a_idx.isApprox(a_ref_local_world_aligned)); |
| 603 |
|
|
|
| 604 |
|
|
// compare to finite differencies |
| 605 |
|
|
{ |
| 606 |
|
✗ |
Data data_ref(model), data_ref_plus(model); |
| 607 |
|
|
|
| 608 |
|
✗ |
const double alpha = 1e-8; |
| 609 |
|
✗ |
Eigen::VectorXd q_plus(model.nq); |
| 610 |
|
✗ |
q_plus = integrate(model, q, alpha * v); |
| 611 |
|
|
|
| 612 |
|
|
// data_ref |
| 613 |
|
✗ |
Data::Matrix6x J_ref_world(6, model.nv), J_ref_local(6, model.nv), |
| 614 |
|
✗ |
J_ref_local_world_aligned(6, model.nv); |
| 615 |
|
✗ |
J_ref_world.fill(0.); |
| 616 |
|
✗ |
J_ref_local.fill(0.); |
| 617 |
|
✗ |
J_ref_local_world_aligned.fill(0.); |
| 618 |
|
✗ |
computeJointJacobians(model, data_ref, q); |
| 619 |
|
✗ |
updateFramePlacements(model, data_ref); |
| 620 |
|
✗ |
const SE3 & oMf_q = data_ref.oMf[idx]; |
| 621 |
|
✗ |
getFrameJacobian(model, data_ref, idx, WORLD, J_ref_world); |
| 622 |
|
✗ |
getFrameJacobian(model, data_ref, idx, LOCAL, J_ref_local); |
| 623 |
|
✗ |
getFrameJacobian(model, data_ref, idx, LOCAL_WORLD_ALIGNED, J_ref_local_world_aligned); |
| 624 |
|
|
|
| 625 |
|
|
// data_ref_plus |
| 626 |
|
✗ |
Data::Matrix6x J_ref_plus_world(6, model.nv), J_ref_plus_local(6, model.nv), |
| 627 |
|
✗ |
J_ref_plus_local_world_aligned(6, model.nv); |
| 628 |
|
✗ |
J_ref_plus_world.fill(0.); |
| 629 |
|
✗ |
J_ref_plus_local.fill(0.); |
| 630 |
|
✗ |
J_ref_plus_local_world_aligned.fill(0.); |
| 631 |
|
✗ |
computeJointJacobians(model, data_ref_plus, q_plus); |
| 632 |
|
✗ |
updateFramePlacements(model, data_ref_plus); |
| 633 |
|
✗ |
const SE3 & oMf_q_plus = data_ref_plus.oMf[idx]; |
| 634 |
|
✗ |
getFrameJacobian(model, data_ref_plus, idx, WORLD, J_ref_plus_world); |
| 635 |
|
✗ |
getFrameJacobian(model, data_ref_plus, idx, LOCAL, J_ref_plus_local); |
| 636 |
|
✗ |
getFrameJacobian( |
| 637 |
|
|
model, data_ref_plus, idx, LOCAL_WORLD_ALIGNED, J_ref_plus_local_world_aligned); |
| 638 |
|
|
|
| 639 |
|
|
// Move J_ref_plus_local to reference frame |
| 640 |
|
✗ |
J_ref_plus_local = (oMf_q.inverse() * oMf_q_plus).toActionMatrix() * (J_ref_plus_local); |
| 641 |
|
|
|
| 642 |
|
|
// Move J_ref_plus_local_world_aligned to reference frame |
| 643 |
|
✗ |
SE3 oMf_translation = SE3::Identity(); |
| 644 |
|
✗ |
oMf_translation.translation() = oMf_q_plus.translation() - oMf_q.translation(); |
| 645 |
|
|
J_ref_plus_local_world_aligned = |
| 646 |
|
✗ |
oMf_translation.toActionMatrix() * (J_ref_plus_local_world_aligned); |
| 647 |
|
|
|
| 648 |
|
✗ |
Data::Matrix6x dJ_ref_world(6, model.nv), dJ_ref_local(6, model.nv), |
| 649 |
|
✗ |
dJ_ref_local_world_aligned(6, model.nv); |
| 650 |
|
✗ |
dJ_ref_world.fill(0.); |
| 651 |
|
✗ |
dJ_ref_local.fill(0.); |
| 652 |
|
✗ |
dJ_ref_local_world_aligned.fill(0.); |
| 653 |
|
✗ |
dJ_ref_world = (J_ref_plus_world - J_ref_world) / alpha; |
| 654 |
|
✗ |
dJ_ref_local = (J_ref_plus_local - J_ref_local) / alpha; |
| 655 |
|
|
dJ_ref_local_world_aligned = |
| 656 |
|
✗ |
(J_ref_plus_local_world_aligned - J_ref_local_world_aligned) / alpha; |
| 657 |
|
|
|
| 658 |
|
|
// data |
| 659 |
|
✗ |
computeJointJacobiansTimeVariation(model, data, q, v); |
| 660 |
|
✗ |
forwardKinematics(model, data, q, v); |
| 661 |
|
✗ |
updateFramePlacements(model, data); |
| 662 |
|
✗ |
Data::Matrix6x dJ_world(6, model.nv), dJ_local(6, model.nv), |
| 663 |
|
✗ |
dJ_local_world_aligned(6, model.nv); |
| 664 |
|
✗ |
dJ_world.fill(0.); |
| 665 |
|
✗ |
dJ_local.fill(0.); |
| 666 |
|
✗ |
dJ_local_world_aligned.fill(0.); |
| 667 |
|
✗ |
getFrameJacobianTimeVariation(model, data, idx, WORLD, dJ_world); |
| 668 |
|
✗ |
getFrameJacobianTimeVariation(model, data, idx, LOCAL, dJ_local); |
| 669 |
|
✗ |
getFrameJacobianTimeVariation(model, data, idx, LOCAL_WORLD_ALIGNED, dJ_local_world_aligned); |
| 670 |
|
|
|
| 671 |
|
✗ |
BOOST_CHECK(dJ_world.isApprox(dJ_ref_world, sqrt(alpha))); |
| 672 |
|
✗ |
BOOST_CHECK(dJ_local.isApprox(dJ_ref_local, sqrt(alpha))); |
| 673 |
|
✗ |
BOOST_CHECK(dJ_local_world_aligned.isApprox(dJ_ref_local_world_aligned, sqrt(alpha))); |
| 674 |
|
|
} |
| 675 |
|
|
} |
| 676 |
|
|
|
| 677 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_supported_inertia_and_force) |
| 678 |
|
|
{ |
| 679 |
|
|
using namespace Eigen; |
| 680 |
|
|
using namespace pinocchio; |
| 681 |
|
|
|
| 682 |
|
|
// Create a humanoid robot |
| 683 |
|
✗ |
Model model_free; |
| 684 |
|
✗ |
pinocchio::buildModels::humanoid(model_free, true); |
| 685 |
|
✗ |
Data data_free(model_free); |
| 686 |
|
|
|
| 687 |
|
|
// Set freeflyer limits to allow for randomConfiguration |
| 688 |
|
✗ |
model_free.lowerPositionLimit.segment(0, 3) << Vector3d::Constant(-1); |
| 689 |
|
✗ |
model_free.upperPositionLimit.segment(0, 3) << Vector3d::Constant(1); |
| 690 |
|
|
|
| 691 |
|
|
// Joint of interest (that will be converted to frame) |
| 692 |
|
✗ |
const std::string joint_name = "chest2_joint"; |
| 693 |
|
✗ |
const JointIndex joint_id = model_free.getJointId(joint_name); |
| 694 |
|
|
|
| 695 |
|
|
// Duplicate of the model with the joint of interest fixed (to make a frame) |
| 696 |
|
✗ |
pinocchio::Model model_fix = buildReducedModel(model_free, {joint_id}, neutral(model_free)); |
| 697 |
|
✗ |
Data data_fix(model_fix); |
| 698 |
|
✗ |
const FrameIndex frame_id = model_fix.getFrameId(joint_name); |
| 699 |
|
|
|
| 700 |
|
|
// Const variable to help convert q, v, a from one model to another |
| 701 |
|
✗ |
const int joint_idx_q(model_free.joints[joint_id].idx_q()); |
| 702 |
|
✗ |
const int joint_idx_v(model_free.joints[joint_id].idx_v()); |
| 703 |
|
|
|
| 704 |
|
|
// Pick random q, v, a |
| 705 |
|
✗ |
VectorXd q_free = randomConfiguration(model_free); |
| 706 |
|
✗ |
VectorXd v_free(VectorXd::Random(model_free.nv)); |
| 707 |
|
✗ |
VectorXd a_free(VectorXd::Random(model_free.nv)); |
| 708 |
|
|
|
| 709 |
|
|
// Set joint of interest to q, v, a = 0 to mimic the fixed joint |
| 710 |
|
✗ |
q_free[joint_idx_q] = 0; |
| 711 |
|
✗ |
v_free[joint_idx_v] = 0; |
| 712 |
|
✗ |
a_free[joint_idx_v] = 0; |
| 713 |
|
|
|
| 714 |
|
|
// Adapt configuration for fixed joint model |
| 715 |
|
✗ |
VectorXd q_fix(model_fix.nq); |
| 716 |
|
✗ |
q_fix << q_free.head(joint_idx_q), q_free.tail(model_free.nq - joint_idx_q - 1); |
| 717 |
|
✗ |
VectorXd v_fix(model_fix.nv); |
| 718 |
|
✗ |
v_fix << v_free.head(joint_idx_v), v_free.tail(model_free.nv - joint_idx_v - 1); |
| 719 |
|
✗ |
VectorXd a_fix(model_fix.nv); |
| 720 |
|
✗ |
a_fix << a_free.head(joint_idx_v), a_free.tail(model_free.nv - joint_idx_v - 1); |
| 721 |
|
|
|
| 722 |
|
|
// Compute inertia/force for both models differently |
| 723 |
|
✗ |
forwardKinematics(model_fix, data_fix, q_fix, v_fix, a_fix); |
| 724 |
|
✗ |
crba(model_free, data_free, q_free, Convention::WORLD); |
| 725 |
|
|
|
| 726 |
|
✗ |
Inertia inertia_fix = computeSupportedInertiaByFrame(model_fix, data_fix, frame_id, false); |
| 727 |
|
✗ |
Inertia inertia_free(model_free.inertias[joint_id]); |
| 728 |
|
✗ |
BOOST_CHECK(inertia_fix.isApprox(inertia_free)); |
| 729 |
|
|
|
| 730 |
|
✗ |
inertia_fix = computeSupportedInertiaByFrame(model_fix, data_fix, frame_id, true); |
| 731 |
|
✗ |
inertia_free = data_free.oMi[joint_id].actInv(data_free.oYcrb[joint_id]); |
| 732 |
|
✗ |
BOOST_CHECK(inertia_fix.isApprox(inertia_free)); |
| 733 |
|
|
|
| 734 |
|
✗ |
rnea(model_fix, data_fix, q_fix, v_fix, a_fix); |
| 735 |
|
✗ |
rnea(model_free, data_free, q_free, v_free, a_free); |
| 736 |
|
|
|
| 737 |
|
✗ |
Force force_fix = computeSupportedForceByFrame(model_fix, data_fix, frame_id); |
| 738 |
|
✗ |
Force force_free(data_free.f[joint_id]); |
| 739 |
|
✗ |
BOOST_CHECK(force_fix.isApprox(force_free)); |
| 740 |
|
|
} |
| 741 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
| 742 |
|
|
|