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// Copyright (c) 2016-2019 CNRS INRIA |
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// |
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#include "pinocchio/multibody/joint/joint-generic.hpp" |
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#include "pinocchio/multibody/liegroup/liegroup.hpp" |
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#include "pinocchio/multibody/model.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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using namespace pinocchio; |
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template<typename JointModel> |
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void test_joint_methods( |
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JointModelBase<JointModel> & jmodel, JointDataBase<typename JointModel::JointDataDerived> & jdata) |
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{ |
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typedef typename LieGroup<JointModel>::type LieGroupType; |
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typedef typename JointModel::JointDataDerived JointData; |
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std::cout << "Testing Joint over " << jmodel.shortname() << std::endl; |
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Eigen::VectorXd q1, q2; |
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Eigen::VectorXd armature = |
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Eigen::VectorXd::Random(jdata.S().nv()) + Eigen::VectorXd::Ones(jdata.S().nv()); |
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q1 = LieGroupType().random(); |
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q2 = LieGroupType().random(); |
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Eigen::VectorXd v1(Eigen::VectorXd::Random(jdata.S().nv())), |
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v2(Eigen::VectorXd::Random(jdata.S().nv())); |
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Inertia::Matrix6 Ia(pinocchio::Inertia::Random().matrix()), |
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Ia2(pinocchio::Inertia::Random().matrix()); |
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bool update_I = false; |
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jmodel.calc(jdata.derived(), q1, v1); |
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jmodel.calc_aba(jdata.derived(), armature, Ia, update_I); |
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pinocchio::JointModel jma(jmodel); |
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BOOST_CHECK(jmodel == jma); |
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BOOST_CHECK(jma == jmodel); |
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BOOST_CHECK(jma.hasSameIndexes(jmodel)); |
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pinocchio::JointData jda(jdata.derived()); |
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BOOST_CHECK(jda == jdata); |
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BOOST_CHECK(jdata == jda); |
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jma.calc(jda, q1, v1); |
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jma.calc_aba(jda, armature, Ia, update_I); |
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pinocchio::JointData jda_other(jdata); |
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jma.calc(jda_other, q2, v2); |
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jma.calc_aba(jda_other, armature, Ia2, update_I); |
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BOOST_CHECK(jda_other != jda); |
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BOOST_CHECK(jda != jda_other); |
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BOOST_CHECK(jda_other != jdata); |
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BOOST_CHECK(jdata != jda_other); |
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const std::string error_prefix("JointModel on " + jma.shortname()); |
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BOOST_CHECK_MESSAGE(jmodel.nq() == jma.nq(), std::string(error_prefix + " - nq ")); |
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BOOST_CHECK_MESSAGE(jmodel.nv() == jma.nv(), std::string(error_prefix + " - nv ")); |
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BOOST_CHECK_MESSAGE(jmodel.idx_q() == jma.idx_q(), std::string(error_prefix + " - Idx_q ")); |
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BOOST_CHECK_MESSAGE(jmodel.idx_v() == jma.idx_v(), std::string(error_prefix + " - Idx_v ")); |
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BOOST_CHECK_MESSAGE(jmodel.id() == jma.id(), std::string(error_prefix + " - JointId ")); |
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BOOST_CHECK_MESSAGE( |
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jda.S().matrix().isApprox(jdata.S().matrix()), |
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std::string(error_prefix + " - JointMotionSubspaceXd ")); |
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BOOST_CHECK_MESSAGE( |
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(jda.M()).isApprox((jdata.M())), |
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std::string(error_prefix + " - Joint transforms ")); // == or isApprox ? |
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BOOST_CHECK_MESSAGE( |
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(jda.v()).isApprox((pinocchio::Motion(jdata.v()))), |
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std::string(error_prefix + " - Joint motions ")); |
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BOOST_CHECK_MESSAGE((jda.c()) == (jdata.c()), std::string(error_prefix + " - Joint bias ")); |
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BOOST_CHECK_MESSAGE( |
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(jda.U()).isApprox(jdata.U()), |
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std::string(error_prefix + " - Joint U inertia matrix decomposition ")); |
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BOOST_CHECK_MESSAGE( |
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(jda.Dinv()).isApprox(jdata.Dinv()), |
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std::string(error_prefix + " - Joint DInv inertia matrix decomposition ")); |
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BOOST_CHECK_MESSAGE( |
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(jda.UDinv()).isApprox(jdata.UDinv()), |
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std::string(error_prefix + " - Joint UDInv inertia matrix decomposition ")); |
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// Test vxS |
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typedef typename JointModel::Constraint_t Constraint_t; |
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typedef typename Constraint_t::DenseBase ConstraintDense; |
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Motion v(Motion::Random()); |
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ConstraintDense vxS(v.cross(jdata.S())); |
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ConstraintDense vxS_ref = v.toActionMatrix() * jdata.S().matrix(); |
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BOOST_CHECK_MESSAGE(vxS.isApprox(vxS_ref), std::string(error_prefix + "- Joint vxS operation ")); |
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// Test Y*S |
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const Inertia Isparse(Inertia::Random()); |
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const Inertia::Matrix6 Idense(Isparse.matrix()); |
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const ConstraintDense IsparseS = Isparse * jdata.S(); |
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const ConstraintDense IdenseS = Idense * jdata.S(); |
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BOOST_CHECK_MESSAGE( |
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IdenseS.isApprox(IsparseS), std::string(error_prefix + "- Joint YS operation ")); |
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// Test calc |
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{ |
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JointData jdata1(jdata.derived()); |
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jmodel.calc(jdata1.derived(), q1, v1); |
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jmodel.calc(jdata1.derived(), Blank(), v2); |
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JointData jdata_ref(jdata.derived()); |
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jmodel.calc(jdata_ref.derived(), q1, v2); |
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BOOST_CHECK_MESSAGE( |
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pinocchio::JointData(jdata1).v() == pinocchio::JointData(jdata_ref).v(), |
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std::string(error_prefix + "- joint.calc(jdata,*,v) ")); |
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} |
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} |
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template<typename JointModel_> |
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struct init; |
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template<typename JointModel_> |
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struct init |
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{ |
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static JointModel_ run() |
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{ |
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JointModel_ jmodel; |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options> |
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struct init<pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options>> |
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{ |
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typedef pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options> JointModel; |
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static JointModel run() |
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{ |
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typedef typename JointModel::Vector3 Vector3; |
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JointModel jmodel(Vector3::Random().normalized()); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options> |
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struct init<pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options>> |
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{ |
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typedef pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options> JointModel; |
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static JointModel run() |
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{ |
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typedef typename JointModel::Vector3 Vector3; |
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JointModel jmodel(Vector3::Random().normalized()); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options> |
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struct init<pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options>> |
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{ |
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typedef pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options> JointModel; |
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static JointModel run() |
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{ |
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typedef typename JointModel::Vector3 Vector3; |
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JointModel jmodel(Vector3::Random().normalized()); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options, template<typename, int> class JointCollection> |
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struct init<pinocchio::JointModelTpl<Scalar, Options, JointCollection>> |
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{ |
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typedef pinocchio::JointModelTpl<Scalar, Options, JointCollection> JointModel; |
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static JointModel run() |
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{ |
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typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 0> JointModelRX; |
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JointModel jmodel((JointModelRX())); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options, template<typename, int> class JointCollection> |
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struct init<pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollection>> |
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{ |
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typedef pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollection> JointModel; |
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static JointModel run() |
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{ |
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typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 0> JointModelRX; |
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typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 1> JointModelRY; |
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JointModel jmodel((JointModelRX())); |
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jmodel.addJoint(JointModelRY()); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename JointModel_> |
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struct init<pinocchio::JointModelMimic<JointModel_>> |
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{ |
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typedef pinocchio::JointModelMimic<JointModel_> JointModel; |
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static JointModel run() |
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{ |
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JointModel_ jmodel_ref = init<JointModel_>::run(); |
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JointModel jmodel(jmodel_ref, 1., 0.); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options> |
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struct init<pinocchio::JointModelUniversalTpl<Scalar, Options>> |
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{ |
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typedef pinocchio::JointModelUniversalTpl<Scalar, Options> JointModel; |
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static JointModel run() |
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{ |
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typedef typename JointModel::Vector3 Vector3; |
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JointModel jmodel(XAxis::vector(), YAxis::vector()); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options, int axis> |
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struct init<pinocchio::JointModelHelicalTpl<Scalar, Options, axis>> |
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{ |
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typedef pinocchio::JointModelHelicalTpl<Scalar, Options, axis> JointModel; |
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static JointModel run() |
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{ |
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JointModel jmodel(static_cast<Scalar>(0.5)); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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template<typename Scalar, int Options> |
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struct init<pinocchio::JointModelHelicalUnalignedTpl<Scalar, Options>> |
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{ |
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typedef pinocchio::JointModelHelicalUnalignedTpl<Scalar, Options> JointModel; |
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static JointModel run() |
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{ |
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typedef typename JointModel::Vector3 Vector3; |
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JointModel jmodel(Vector3::Random().normalized()); |
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jmodel.setIndexes(0, 0, 0); |
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return jmodel; |
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} |
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}; |
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struct TestJoint |
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{ |
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template<typename JointModel> |
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void operator()(const JointModelBase<JointModel> &) const |
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{ |
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JointModel jmodel = init<JointModel>::run(); |
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jmodel.setIndexes(0, 0, 0); |
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typename JointModel::JointDataDerived jdata = jmodel.createData(); |
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test_joint_methods(jmodel, jdata); |
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} |
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void operator()(const pinocchio::JointModelComposite &) const |
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{ |
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} |
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}; |
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namespace pinocchio |
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{ |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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struct JointTest; |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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struct JointModelTest; |
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> |
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struct JointDataTest; |
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template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl> |
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struct traits<JointDataTest<_Scalar, _Options, JointCollectionTpl>> |
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{ |
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typedef JointTpl<_Scalar, _Options, JointCollectionTpl> JointDerived; |
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typedef _Scalar Scalar; |
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}; |
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template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl> |
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struct traits<JointModelTest<_Scalar, _Options, JointCollectionTpl>> |
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{ |
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typedef JointTpl<_Scalar, _Options, JointCollectionTpl> JointDerived; |
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typedef _Scalar Scalar; |
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}; |
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template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl> |
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struct traits<JointTest<_Scalar, _Options, JointCollectionTpl>> |
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{ |
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enum |
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{ |
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Options = _Options, |
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NQ = Eigen::Dynamic, // Dynamic because unknown at compile time |
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NV = Eigen::Dynamic |
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}; |
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typedef _Scalar Scalar; |
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typedef JointDataTpl<Scalar, Options, JointCollectionTpl> JointDataDerived; |
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typedef JointModelTpl<Scalar, Options, JointCollectionTpl> JointModelDerived; |
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typedef JointMotionSubspaceTpl<Eigen::Dynamic, Scalar, Options> Constraint_t; |
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typedef SE3Tpl<Scalar, Options> Transformation_t; |
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typedef MotionTpl<Scalar, Options> Motion_t; |
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typedef MotionTpl<Scalar, Options> Bias_t; |
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// [ABA] |
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typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> U_t; |
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typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> D_t; |
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typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> UD_t; |
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typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> ConfigVector_t; |
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typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> TangentVector_t; |
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}; |
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template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl> |
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struct JointModelTest |
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: JointCollectionTpl<_Scalar, _Options>::JointModelVariant |
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, JointModelBase<JointModelTest<_Scalar, _Options, JointCollectionTpl>> |
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{ |
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typedef JointTest<_Scalar, _Options, JointCollectionTpl> JointDerived; |
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typedef JointCollectionTpl<_Scalar, _Options> JointCollection; |
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typedef typename JointCollection::JointModelVariant VariantBase; |
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typedef typename JointCollection::JointModelVariant JointModelVariant; |
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PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived); |
362 |
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363 |
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JointModelTest(const JointModelVariant & jmodel) |
364 |
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✗ |
: VariantBase(jmodel) |
365 |
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{ |
366 |
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} |
367 |
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}; |
368 |
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369 |
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} // namespace pinocchio |
370 |
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371 |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
372 |
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373 |
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BOOST_AUTO_TEST_CASE(test_joint_from_joint_composite) |
374 |
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{ |
375 |
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typedef JointCollectionDefault JointCollection; |
376 |
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typedef JointCollection::JointModelVariant JointModelVariant; |
377 |
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378 |
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JointModelRX jmodel_revolute_x; |
379 |
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JointModel jmodel_generic(jmodel_revolute_x); |
380 |
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JointModelVariant jmodel_variant(jmodel_revolute_x); |
381 |
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|
382 |
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JointModelTest<double, 0, JointCollectionDefaultTpl> jmodel_test(jmodel_revolute_x); |
383 |
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std::vector<JointModelTest<double, 0, JointCollectionDefaultTpl>> jmodel_test_vector; |
384 |
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jmodel_test_vector.push_back( |
385 |
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JointModelTest<double, 0, JointCollectionDefaultTpl>(jmodel_revolute_x)); |
386 |
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|
387 |
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std::vector<JointModelVariant> jmodel_variant_vector; |
388 |
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jmodel_variant_vector.push_back(jmodel_revolute_x); |
389 |
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|
390 |
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std::vector<JointModel> jmodel_generic_vector; |
391 |
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jmodel_generic_vector.push_back((JointModel)jmodel_revolute_x); |
392 |
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JointModelComposite jmodel_composite(jmodel_revolute_x); |
393 |
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} |
394 |
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|
395 |
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✗ |
BOOST_AUTO_TEST_CASE(test_all_joints) |
396 |
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{ |
397 |
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✗ |
boost::mpl::for_each<JointModelVariant::types>(TestJoint()); |
398 |
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} |
399 |
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|
400 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_empty_model) |
401 |
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{ |
402 |
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✗ |
JointModel jmodel; |
403 |
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std::cout << "nq " << jmodel.nq() << std::endl; |
404 |
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✗ |
std::cout << "nv " << jmodel.nv() << std::endl; |
405 |
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✗ |
std::cout << "idx_q " << jmodel.idx_q() << std::endl; |
406 |
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✗ |
std::cout << "idx_v " << jmodel.idx_v() << std::endl; |
407 |
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✗ |
std::cout << "id " << jmodel.id() << std::endl; |
408 |
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✗ |
std::cout << "name " << jmodel.shortname() << std::endl; |
409 |
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|
410 |
|
✗ |
BOOST_CHECK(jmodel.idx_q() == -1); |
411 |
|
✗ |
BOOST_CHECK(jmodel.idx_v() == -1); |
412 |
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} |
413 |
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|
414 |
|
✗ |
BOOST_AUTO_TEST_CASE(isEqual) |
415 |
|
|
{ |
416 |
|
✗ |
JointModelRX joint_revolutex; |
417 |
|
✗ |
JointModelRY joint_revolutey; |
418 |
|
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|
419 |
|
✗ |
BOOST_CHECK(joint_revolutex != joint_revolutey); |
420 |
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|
421 |
|
✗ |
JointModel jmodelx(joint_revolutex); |
422 |
|
✗ |
jmodelx.setIndexes(0, 0, 0); |
423 |
|
|
|
424 |
|
✗ |
JointModel jmodelx_copy = jmodelx; |
425 |
|
✗ |
BOOST_CHECK(jmodelx_copy == jmodelx); |
426 |
|
✗ |
BOOST_CHECK(jmodelx_copy == jmodelx.derived()); |
427 |
|
|
|
428 |
|
✗ |
JointModel jmodely(joint_revolutey); |
429 |
|
|
// TODO: the comparison of two variants is not supported by some old version of BOOST |
430 |
|
|
// BOOST_CHECK(jmodely.toVariant() != jmodelx.toVariant()); |
431 |
|
✗ |
BOOST_CHECK(jmodely != jmodelx); |
432 |
|
|
} |
433 |
|
|
|
434 |
|
✗ |
BOOST_AUTO_TEST_CASE(cast) |
435 |
|
|
{ |
436 |
|
✗ |
JointModelRX joint_revolutex; |
437 |
|
|
|
438 |
|
✗ |
JointModel jmodelx(joint_revolutex); |
439 |
|
✗ |
jmodelx.setIndexes(0, 0, 0); |
440 |
|
|
|
441 |
|
✗ |
BOOST_CHECK(jmodelx.cast<double>() == jmodelx); |
442 |
|
✗ |
BOOST_CHECK(jmodelx.cast<long double>().cast<double>() == jmodelx); |
443 |
|
|
} |
444 |
|
|
|
445 |
|
|
struct TestJointOperatorEqual |
446 |
|
|
{ |
447 |
|
|
|
448 |
|
|
template<typename JointModel> |
449 |
|
✗ |
void operator()(const JointModelBase<JointModel> &) const |
450 |
|
|
{ |
451 |
|
✗ |
JointModel jmodel_init = init<JointModel>::run(); |
452 |
|
|
typedef typename JointModel::JointDataDerived JointData; |
453 |
|
|
|
454 |
|
✗ |
Model model; |
455 |
|
✗ |
model.addJoint(0, jmodel_init, SE3::Random(), "toto"); |
456 |
|
✗ |
model.lowerPositionLimit.fill(-1.); |
457 |
|
✗ |
model.upperPositionLimit.fill(1.); |
458 |
|
|
|
459 |
|
✗ |
const JointModel & jmodel = boost::get<JointModel>(model.joints[1]); |
460 |
|
|
|
461 |
|
✗ |
Eigen::VectorXd q = randomConfiguration(model); |
462 |
|
✗ |
Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv); |
463 |
|
|
|
464 |
|
✗ |
JointData jdata = jmodel.createData(); |
465 |
|
|
|
466 |
|
✗ |
jmodel.calc(jdata, q, v); |
467 |
|
|
|
468 |
|
✗ |
Eigen::VectorXd armature = |
469 |
|
✗ |
Eigen::VectorXd::Random(jmodel.nv()) + Eigen::VectorXd::Ones(jmodel.nv()); |
470 |
|
✗ |
Inertia::Matrix6 I = Inertia::Matrix6::Identity(); |
471 |
|
✗ |
jmodel.calc_aba(jdata, armature, I, false); |
472 |
|
✗ |
test(jdata); |
473 |
|
|
} |
474 |
|
|
|
475 |
|
|
template<typename JointModel> |
476 |
|
✗ |
void operator()(const pinocchio::JointModelMimic<JointModel> &) const |
477 |
|
|
{ |
478 |
|
|
} |
479 |
|
|
|
480 |
|
|
template<typename JointData> |
481 |
|
✗ |
static void test(const JointData & jdata) |
482 |
|
|
{ |
483 |
|
✗ |
pinocchio::JointData jdata_generic1(jdata); |
484 |
|
|
|
485 |
|
✗ |
std::cout << "name: " << jdata_generic1.shortname() << std::endl; |
486 |
|
✗ |
BOOST_CHECK(jdata_generic1 == jdata_generic1); |
487 |
|
|
} |
488 |
|
|
}; |
489 |
|
|
|
490 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_operator_equal) |
491 |
|
|
{ |
492 |
|
✗ |
boost::mpl::for_each<JointModelVariant::types>(TestJointOperatorEqual()); |
493 |
|
|
} |
494 |
|
|
|
495 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
496 |
|
|
|