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// |
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// Copyright (c) 2016-2019 CNRS INRIA |
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// |
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#include "pinocchio/multibody/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; |
| 348 |
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typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> TangentVector_t; |
| 349 |
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}; |
| 350 |
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| 351 |
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template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl> |
| 352 |
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struct JointModelTest |
| 353 |
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: JointCollectionTpl<_Scalar, _Options>::JointModelVariant |
| 354 |
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, JointModelBase<JointModelTest<_Scalar, _Options, JointCollectionTpl>> |
| 355 |
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{ |
| 356 |
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typedef JointTest<_Scalar, _Options, JointCollectionTpl> JointDerived; |
| 357 |
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typedef JointCollectionTpl<_Scalar, _Options> JointCollection; |
| 358 |
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typedef typename JointCollection::JointModelVariant VariantBase; |
| 359 |
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typedef typename JointCollection::JointModelVariant JointModelVariant; |
| 360 |
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|
| 361 |
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PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived); |
| 362 |
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| 363 |
|
✗ |
JointModelTest(const JointModelVariant & jmodel) |
| 364 |
|
✗ |
: 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 |
|
✗ |
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 |
|
✗ |
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 |
|
✗ |
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 |
|
✗ |
JointModelTest<double, 0, JointCollectionDefaultTpl>(jmodel_revolute_x)); |
| 386 |
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|
|
| 387 |
|
✗ |
std::vector<JointModelVariant> jmodel_variant_vector; |
| 388 |
|
✗ |
jmodel_variant_vector.push_back(jmodel_revolute_x); |
| 389 |
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|
|
| 390 |
|
✗ |
std::vector<JointModel> jmodel_generic_vector; |
| 391 |
|
✗ |
jmodel_generic_vector.push_back((JointModel)jmodel_revolute_x); |
| 392 |
|
✗ |
JointModelComposite jmodel_composite(jmodel_revolute_x); |
| 393 |
|
|
} |
| 394 |
|
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|
| 395 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_all_joints) |
| 396 |
|
|
{ |
| 397 |
|
✗ |
boost::mpl::for_each<JointModelVariant::types>(TestJoint()); |
| 398 |
|
|
} |
| 399 |
|
|
|
| 400 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_empty_model) |
| 401 |
|
|
{ |
| 402 |
|
✗ |
JointModel jmodel; |
| 403 |
|
✗ |
std::cout << "nq " << jmodel.nq() << std::endl; |
| 404 |
|
✗ |
std::cout << "nv " << jmodel.nv() << std::endl; |
| 405 |
|
✗ |
std::cout << "idx_q " << jmodel.idx_q() << std::endl; |
| 406 |
|
✗ |
std::cout << "idx_v " << jmodel.idx_v() << std::endl; |
| 407 |
|
✗ |
std::cout << "id " << jmodel.id() << std::endl; |
| 408 |
|
✗ |
std::cout << "name " << jmodel.shortname() << std::endl; |
| 409 |
|
|
|
| 410 |
|
✗ |
BOOST_CHECK(jmodel.idx_q() == -1); |
| 411 |
|
✗ |
BOOST_CHECK(jmodel.idx_v() == -1); |
| 412 |
|
|
} |
| 413 |
|
|
|
| 414 |
|
✗ |
BOOST_AUTO_TEST_CASE(isEqual) |
| 415 |
|
|
{ |
| 416 |
|
✗ |
JointModelRX joint_revolutex; |
| 417 |
|
✗ |
JointModelRY joint_revolutey; |
| 418 |
|
|
|
| 419 |
|
✗ |
BOOST_CHECK(joint_revolutex != joint_revolutey); |
| 420 |
|
|
|
| 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 |
|
|
|