| Directory: | ./ |
|---|---|
| File: | unittest/joint-generic.cpp |
| Date: | 2025-02-12 21:03:38 |
| Exec | Total | Coverage | |
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| Lines: | 182 | 182 | 100.0% |
| Branches: | 641 | 1281 | 50.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2016-2019 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/multibody/joint/joint-generic.hpp" | ||
| 6 | |||
| 7 | #include "pinocchio/multibody/liegroup/liegroup.hpp" | ||
| 8 | |||
| 9 | #include "pinocchio/multibody/model.hpp" | ||
| 10 | |||
| 11 | #include "pinocchio/algorithm/joint-configuration.hpp" | ||
| 12 | |||
| 13 | #include <iostream> | ||
| 14 | #include <boost/test/unit_test.hpp> | ||
| 15 | #include <boost/utility/binary.hpp> | ||
| 16 | |||
| 17 | using namespace pinocchio; | ||
| 18 | |||
| 19 | template<typename JointModel> | ||
| 20 | 50 | void test_joint_methods( | |
| 21 | JointModelBase<JointModel> & jmodel, JointDataBase<typename JointModel::JointDataDerived> & jdata) | ||
| 22 | { | ||
| 23 | typedef typename LieGroup<JointModel>::type LieGroupType; | ||
| 24 | typedef typename JointModel::JointDataDerived JointData; | ||
| 25 | |||
| 26 |
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50 | std::cout << "Testing Joint over " << jmodel.shortname() << std::endl; |
| 27 | |||
| 28 |
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50 | Eigen::VectorXd q1, q2; |
| 29 |
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50 | Eigen::VectorXd armature = |
| 30 |
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50 | Eigen::VectorXd::Random(jdata.S().nv()) + Eigen::VectorXd::Ones(jdata.S().nv()); |
| 31 | |||
| 32 |
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50 | q1 = LieGroupType().random(); |
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50 | q2 = LieGroupType().random(); |
| 34 | |||
| 35 |
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50 | Eigen::VectorXd v1(Eigen::VectorXd::Random(jdata.S().nv())), |
| 36 |
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50 | v2(Eigen::VectorXd::Random(jdata.S().nv())); |
| 37 | |||
| 38 |
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50 | Inertia::Matrix6 Ia(pinocchio::Inertia::Random().matrix()), |
| 39 |
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50 | Ia2(pinocchio::Inertia::Random().matrix()); |
| 40 | 50 | bool update_I = false; | |
| 41 | |||
| 42 |
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50 | jmodel.calc(jdata.derived(), q1, v1); |
| 43 |
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50 | jmodel.calc_aba(jdata.derived(), armature, Ia, update_I); |
| 44 | |||
| 45 |
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50 | pinocchio::JointModel jma(jmodel); |
| 46 |
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50 | BOOST_CHECK(jmodel == jma); |
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50 | BOOST_CHECK(jma == jmodel); |
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50 | BOOST_CHECK(jma.hasSameIndexes(jmodel)); |
| 49 | |||
| 50 |
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50 | pinocchio::JointData jda(jdata.derived()); |
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50 | BOOST_CHECK(jda == jdata); |
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50 | BOOST_CHECK(jdata == jda); |
| 53 | |||
| 54 |
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50 | jma.calc(jda, q1, v1); |
| 55 |
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50 | jma.calc_aba(jda, armature, Ia, update_I); |
| 56 |
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50 | pinocchio::JointData jda_other(jdata); |
| 57 | |||
| 58 |
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50 | jma.calc(jda_other, q2, v2); |
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50 | jma.calc_aba(jda_other, armature, Ia2, update_I); |
| 60 | |||
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50 | BOOST_CHECK(jda_other != jda); |
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50 | BOOST_CHECK(jda != jda_other); |
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50 | BOOST_CHECK(jda_other != jdata); |
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50 | BOOST_CHECK(jdata != jda_other); |
| 65 | |||
| 66 |
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100 | const std::string error_prefix("JointModel on " + jma.shortname()); |
| 67 |
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50 | BOOST_CHECK_MESSAGE(jmodel.nq() == jma.nq(), std::string(error_prefix + " - nq ")); |
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50 | BOOST_CHECK_MESSAGE(jmodel.nv() == jma.nv(), std::string(error_prefix + " - nv ")); |
| 69 | |||
| 70 |
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50 | BOOST_CHECK_MESSAGE(jmodel.idx_q() == jma.idx_q(), std::string(error_prefix + " - Idx_q ")); |
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50 | BOOST_CHECK_MESSAGE(jmodel.idx_v() == jma.idx_v(), std::string(error_prefix + " - Idx_v ")); |
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50 | BOOST_CHECK_MESSAGE(jmodel.id() == jma.id(), std::string(error_prefix + " - JointId ")); |
| 73 | |||
| 74 |
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50 | BOOST_CHECK_MESSAGE( |
| 75 | jda.S().matrix().isApprox(jdata.S().matrix()), | ||
| 76 | std::string(error_prefix + " - JointMotionSubspaceXd ")); | ||
| 77 |
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50 | BOOST_CHECK_MESSAGE( |
| 78 | (jda.M()).isApprox((jdata.M())), | ||
| 79 | std::string(error_prefix + " - Joint transforms ")); // == or isApprox ? | ||
| 80 |
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50 | BOOST_CHECK_MESSAGE( |
| 81 | (jda.v()).isApprox((pinocchio::Motion(jdata.v()))), | ||
| 82 | std::string(error_prefix + " - Joint motions ")); | ||
| 83 |
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50 | BOOST_CHECK_MESSAGE((jda.c()) == (jdata.c()), std::string(error_prefix + " - Joint bias ")); |
| 84 | |||
| 85 |
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50 | BOOST_CHECK_MESSAGE( |
| 86 | (jda.U()).isApprox(jdata.U()), | ||
| 87 | std::string(error_prefix + " - Joint U inertia matrix decomposition ")); | ||
| 88 |
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50 | BOOST_CHECK_MESSAGE( |
| 89 | (jda.Dinv()).isApprox(jdata.Dinv()), | ||
| 90 | std::string(error_prefix + " - Joint DInv inertia matrix decomposition ")); | ||
| 91 |
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50 | BOOST_CHECK_MESSAGE( |
| 92 | (jda.UDinv()).isApprox(jdata.UDinv()), | ||
| 93 | std::string(error_prefix + " - Joint UDInv inertia matrix decomposition ")); | ||
| 94 | |||
| 95 | // Test vxS | ||
| 96 | typedef typename JointModel::Constraint_t Constraint_t; | ||
| 97 | typedef typename Constraint_t::DenseBase ConstraintDense; | ||
| 98 | |||
| 99 |
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50 | Motion v(Motion::Random()); |
| 100 |
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50 | ConstraintDense vxS(v.cross(jdata.S())); |
| 101 |
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50 | ConstraintDense vxS_ref = v.toActionMatrix() * jdata.S().matrix(); |
| 102 | |||
| 103 |
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50 | BOOST_CHECK_MESSAGE(vxS.isApprox(vxS_ref), std::string(error_prefix + "- Joint vxS operation ")); |
| 104 | |||
| 105 | // Test Y*S | ||
| 106 |
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50 | const Inertia Isparse(Inertia::Random()); |
| 107 |
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50 | const Inertia::Matrix6 Idense(Isparse.matrix()); |
| 108 | |||
| 109 |
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50 | const ConstraintDense IsparseS = Isparse * jdata.S(); |
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50 | const ConstraintDense IdenseS = Idense * jdata.S(); |
| 111 | |||
| 112 |
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50 | BOOST_CHECK_MESSAGE( |
| 113 | IdenseS.isApprox(IsparseS), std::string(error_prefix + "- Joint YS operation ")); | ||
| 114 | |||
| 115 | // Test calc | ||
| 116 | { | ||
| 117 |
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50 | JointData jdata1(jdata.derived()); |
| 118 | |||
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50 | jmodel.calc(jdata1.derived(), q1, v1); |
| 120 |
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50 | jmodel.calc(jdata1.derived(), Blank(), v2); |
| 121 | |||
| 122 |
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50 | JointData jdata_ref(jdata.derived()); |
| 123 |
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50 | jmodel.calc(jdata_ref.derived(), q1, v2); |
| 124 | |||
| 125 |
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|
50 | BOOST_CHECK_MESSAGE( |
| 126 | pinocchio::JointData(jdata1).v() == pinocchio::JointData(jdata_ref).v(), | ||
| 127 | std::string(error_prefix + "- joint.calc(jdata,*,v) ")); | ||
| 128 | } | ||
| 129 | 50 | } | |
| 130 | |||
| 131 | template<typename JointModel_> | ||
| 132 | struct init; | ||
| 133 | |||
| 134 | template<typename JointModel_> | ||
| 135 | struct init | ||
| 136 | { | ||
| 137 | 62 | static JointModel_ run() | |
| 138 | { | ||
| 139 | 62 | JointModel_ jmodel; | |
| 140 | 62 | jmodel.setIndexes(0, 0, 0); | |
| 141 | 62 | return jmodel; | |
| 142 | } | ||
| 143 | }; | ||
| 144 | |||
| 145 | template<typename Scalar, int Options> | ||
| 146 | struct init<pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options>> | ||
| 147 | { | ||
| 148 | typedef pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options> JointModel; | ||
| 149 | |||
| 150 | 2 | static JointModel run() | |
| 151 | { | ||
| 152 | typedef typename JointModel::Vector3 Vector3; | ||
| 153 |
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2 | JointModel jmodel(Vector3::Random().normalized()); |
| 154 | |||
| 155 | 2 | jmodel.setIndexes(0, 0, 0); | |
| 156 | 2 | return jmodel; | |
| 157 | } | ||
| 158 | }; | ||
| 159 | |||
| 160 | template<typename Scalar, int Options> | ||
| 161 | struct init<pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options>> | ||
| 162 | { | ||
| 163 | typedef pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options> JointModel; | ||
| 164 | |||
| 165 | 2 | static JointModel run() | |
| 166 | { | ||
| 167 | typedef typename JointModel::Vector3 Vector3; | ||
| 168 |
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2 | JointModel jmodel(Vector3::Random().normalized()); |
| 169 | |||
| 170 | 2 | jmodel.setIndexes(0, 0, 0); | |
| 171 | 2 | return jmodel; | |
| 172 | } | ||
| 173 | }; | ||
| 174 | |||
| 175 | template<typename Scalar, int Options> | ||
| 176 | struct init<pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options>> | ||
| 177 | { | ||
| 178 | typedef pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options> JointModel; | ||
| 179 | |||
| 180 | 2 | static JointModel run() | |
| 181 | { | ||
| 182 | typedef typename JointModel::Vector3 Vector3; | ||
| 183 |
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2 | JointModel jmodel(Vector3::Random().normalized()); |
| 184 | |||
| 185 | 2 | jmodel.setIndexes(0, 0, 0); | |
| 186 | 2 | return jmodel; | |
| 187 | } | ||
| 188 | }; | ||
| 189 | |||
| 190 | template<typename Scalar, int Options, template<typename, int> class JointCollection> | ||
| 191 | struct init<pinocchio::JointModelTpl<Scalar, Options, JointCollection>> | ||
| 192 | { | ||
| 193 | typedef pinocchio::JointModelTpl<Scalar, Options, JointCollection> JointModel; | ||
| 194 | |||
| 195 | static JointModel run() | ||
| 196 | { | ||
| 197 | typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 0> JointModelRX; | ||
| 198 | JointModel jmodel((JointModelRX())); | ||
| 199 | |||
| 200 | jmodel.setIndexes(0, 0, 0); | ||
| 201 | return jmodel; | ||
| 202 | } | ||
| 203 | }; | ||
| 204 | |||
| 205 | template<typename Scalar, int Options, template<typename, int> class JointCollection> | ||
| 206 | struct init<pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollection>> | ||
| 207 | { | ||
| 208 | typedef pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollection> JointModel; | ||
| 209 | |||
| 210 | 1 | static JointModel run() | |
| 211 | { | ||
| 212 | typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 0> JointModelRX; | ||
| 213 | typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 1> JointModelRY; | ||
| 214 |
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1 | JointModel jmodel((JointModelRX())); |
| 215 |
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1 | jmodel.addJoint(JointModelRY()); |
| 216 | |||
| 217 |
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1 | jmodel.setIndexes(0, 0, 0); |
| 218 | 1 | return jmodel; | |
| 219 | } | ||
| 220 | }; | ||
| 221 | |||
| 222 | template<typename JointModel_> | ||
| 223 | struct init<pinocchio::JointModelMimic<JointModel_>> | ||
| 224 | { | ||
| 225 | typedef pinocchio::JointModelMimic<JointModel_> JointModel; | ||
| 226 | |||
| 227 | 6 | static JointModel run() | |
| 228 | { | ||
| 229 |
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6 | JointModel_ jmodel_ref = init<JointModel_>::run(); |
| 230 | |||
| 231 |
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6 | JointModel jmodel(jmodel_ref, 1., 0.); |
| 232 |
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6 | jmodel.setIndexes(0, 0, 0); |
| 233 | |||
| 234 | 12 | return jmodel; | |
| 235 | } | ||
| 236 | }; | ||
| 237 | |||
| 238 | template<typename Scalar, int Options> | ||
| 239 | struct init<pinocchio::JointModelUniversalTpl<Scalar, Options>> | ||
| 240 | { | ||
| 241 | typedef pinocchio::JointModelUniversalTpl<Scalar, Options> JointModel; | ||
| 242 | |||
| 243 | 2 | static JointModel run() | |
| 244 | { | ||
| 245 | typedef typename JointModel::Vector3 Vector3; | ||
| 246 |
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2 | JointModel jmodel(XAxis::vector(), YAxis::vector()); |
| 247 | |||
| 248 | 2 | jmodel.setIndexes(0, 0, 0); | |
| 249 | 2 | return jmodel; | |
| 250 | } | ||
| 251 | }; | ||
| 252 | |||
| 253 | template<typename Scalar, int Options, int axis> | ||
| 254 | struct init<pinocchio::JointModelHelicalTpl<Scalar, Options, axis>> | ||
| 255 | { | ||
| 256 | typedef pinocchio::JointModelHelicalTpl<Scalar, Options, axis> JointModel; | ||
| 257 | |||
| 258 | 12 | static JointModel run() | |
| 259 | { | ||
| 260 |
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12 | JointModel jmodel(static_cast<Scalar>(0.5)); |
| 261 | |||
| 262 | 12 | jmodel.setIndexes(0, 0, 0); | |
| 263 | 12 | return jmodel; | |
| 264 | } | ||
| 265 | }; | ||
| 266 | |||
| 267 | template<typename Scalar, int Options> | ||
| 268 | struct init<pinocchio::JointModelHelicalUnalignedTpl<Scalar, Options>> | ||
| 269 | { | ||
| 270 | typedef pinocchio::JointModelHelicalUnalignedTpl<Scalar, Options> JointModel; | ||
| 271 | |||
| 272 | 2 | static JointModel run() | |
| 273 | { | ||
| 274 | typedef typename JointModel::Vector3 Vector3; | ||
| 275 |
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2 | JointModel jmodel(Vector3::Random().normalized()); |
| 276 | |||
| 277 | 2 | jmodel.setIndexes(0, 0, 0); | |
| 278 | 2 | return jmodel; | |
| 279 | } | ||
| 280 | }; | ||
| 281 | |||
| 282 | struct TestJoint | ||
| 283 | { | ||
| 284 | |||
| 285 | template<typename JointModel> | ||
| 286 | 50 | void operator()(const JointModelBase<JointModel> &) const | |
| 287 | { | ||
| 288 |
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50 | JointModel jmodel = init<JointModel>::run(); |
| 289 |
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50 | jmodel.setIndexes(0, 0, 0); |
| 290 |
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50 | typename JointModel::JointDataDerived jdata = jmodel.createData(); |
| 291 | |||
| 292 |
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50 | test_joint_methods(jmodel, jdata); |
| 293 | 50 | } | |
| 294 | |||
| 295 | 1 | void operator()(const pinocchio::JointModelComposite &) const | |
| 296 | { | ||
| 297 | 1 | } | |
| 298 | }; | ||
| 299 | |||
| 300 | namespace pinocchio | ||
| 301 | { | ||
| 302 | |||
| 303 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 304 | struct JointTest; | ||
| 305 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 306 | struct JointModelTest; | ||
| 307 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
| 308 | struct JointDataTest; | ||
| 309 | |||
| 310 | template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl> | ||
| 311 | struct traits<JointDataTest<_Scalar, _Options, JointCollectionTpl>> | ||
| 312 | { | ||
| 313 | typedef JointTpl<_Scalar, _Options, JointCollectionTpl> JointDerived; | ||
| 314 | typedef _Scalar Scalar; | ||
| 315 | }; | ||
| 316 | |||
| 317 | template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl> | ||
| 318 | struct traits<JointModelTest<_Scalar, _Options, JointCollectionTpl>> | ||
| 319 | { | ||
| 320 | typedef JointTpl<_Scalar, _Options, JointCollectionTpl> JointDerived; | ||
| 321 | typedef _Scalar Scalar; | ||
| 322 | }; | ||
| 323 | |||
| 324 | template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl> | ||
| 325 | struct traits<JointTest<_Scalar, _Options, JointCollectionTpl>> | ||
| 326 | { | ||
| 327 | enum | ||
| 328 | { | ||
| 329 | Options = _Options, | ||
| 330 | NQ = Eigen::Dynamic, // Dynamic because unknown at compile time | ||
| 331 | NV = Eigen::Dynamic | ||
| 332 | }; | ||
| 333 | typedef _Scalar Scalar; | ||
| 334 | |||
| 335 | typedef JointDataTpl<Scalar, Options, JointCollectionTpl> JointDataDerived; | ||
| 336 | typedef JointModelTpl<Scalar, Options, JointCollectionTpl> JointModelDerived; | ||
| 337 | typedef JointMotionSubspaceTpl<Eigen::Dynamic, Scalar, Options> Constraint_t; | ||
| 338 | typedef SE3Tpl<Scalar, Options> Transformation_t; | ||
| 339 | typedef MotionTpl<Scalar, Options> Motion_t; | ||
| 340 | typedef MotionTpl<Scalar, Options> Bias_t; | ||
| 341 | |||
| 342 | // [ABA] | ||
| 343 | typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> U_t; | ||
| 344 | typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> D_t; | ||
| 345 | typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> UD_t; | ||
| 346 | |||
| 347 | typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> ConfigVector_t; | ||
| 348 | typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> TangentVector_t; | ||
| 349 | }; | ||
| 350 | |||
| 351 | template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl> | ||
| 352 | struct JointModelTest | ||
| 353 | : JointCollectionTpl<_Scalar, _Options>::JointModelVariant | ||
| 354 | , JointModelBase<JointModelTest<_Scalar, _Options, JointCollectionTpl>> | ||
| 355 | { | ||
| 356 | typedef JointTest<_Scalar, _Options, JointCollectionTpl> JointDerived; | ||
| 357 | typedef JointCollectionTpl<_Scalar, _Options> JointCollection; | ||
| 358 | typedef typename JointCollection::JointModelVariant VariantBase; | ||
| 359 | typedef typename JointCollection::JointModelVariant JointModelVariant; | ||
| 360 | |||
| 361 | PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived); | ||
| 362 | |||
| 363 | 2 | JointModelTest(const JointModelVariant & jmodel) | |
| 364 | 2 | : VariantBase(jmodel) | |
| 365 | { | ||
| 366 | 2 | } | |
| 367 | }; | ||
| 368 | |||
| 369 | } // namespace pinocchio | ||
| 370 | |||
| 371 | BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) | ||
| 372 | |||
| 373 |
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4 | BOOST_AUTO_TEST_CASE(test_joint_from_joint_composite) |
| 374 | { | ||
| 375 | typedef JointCollectionDefault JointCollection; | ||
| 376 | typedef JointCollection::JointModelVariant JointModelVariant; | ||
| 377 | |||
| 378 |
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2 | JointModelRX jmodel_revolute_x; |
| 379 |
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2 | JointModel jmodel_generic(jmodel_revolute_x); |
| 380 |
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2 | JointModelVariant jmodel_variant(jmodel_revolute_x); |
| 381 | |||
| 382 |
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2 | JointModelTest<double, 0, JointCollectionDefaultTpl> jmodel_test(jmodel_revolute_x); |
| 383 | 2 | std::vector<JointModelTest<double, 0, JointCollectionDefaultTpl>> jmodel_test_vector; | |
| 384 |
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2 | jmodel_test_vector.push_back( |
| 385 |
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4 | JointModelTest<double, 0, JointCollectionDefaultTpl>(jmodel_revolute_x)); |
| 386 | |||
| 387 | 2 | std::vector<JointModelVariant> jmodel_variant_vector; | |
| 388 |
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2 | jmodel_variant_vector.push_back(jmodel_revolute_x); |
| 389 | |||
| 390 | 2 | std::vector<JointModel> jmodel_generic_vector; | |
| 391 |
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2 | jmodel_generic_vector.push_back((JointModel)jmodel_revolute_x); |
| 392 |
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2 | JointModelComposite jmodel_composite(jmodel_revolute_x); |
| 393 | 2 | } | |
| 394 | |||
| 395 |
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4 | BOOST_AUTO_TEST_CASE(test_all_joints) |
| 396 | { | ||
| 397 | 2 | boost::mpl::for_each<JointModelVariant::types>(TestJoint()); | |
| 398 | 2 | } | |
| 399 | |||
| 400 |
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4 | BOOST_AUTO_TEST_CASE(test_empty_model) |
| 401 | { | ||
| 402 |
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2 | JointModel jmodel; |
| 403 |
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2 | std::cout << "nq " << jmodel.nq() << std::endl; |
| 404 |
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2 | std::cout << "nv " << jmodel.nv() << std::endl; |
| 405 |
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2 | std::cout << "idx_q " << jmodel.idx_q() << std::endl; |
| 406 |
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2 | std::cout << "idx_v " << jmodel.idx_v() << std::endl; |
| 407 |
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2 | std::cout << "id " << jmodel.id() << std::endl; |
| 408 |
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2 | std::cout << "name " << jmodel.shortname() << std::endl; |
| 409 | |||
| 410 |
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2 | BOOST_CHECK(jmodel.idx_q() == -1); |
| 411 |
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2 | BOOST_CHECK(jmodel.idx_v() == -1); |
| 412 | 2 | } | |
| 413 | |||
| 414 |
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4 | BOOST_AUTO_TEST_CASE(isEqual) |
| 415 | { | ||
| 416 |
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2 | JointModelRX joint_revolutex; |
| 417 |
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2 | JointModelRY joint_revolutey; |
| 418 | |||
| 419 |
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2 | BOOST_CHECK(joint_revolutex != joint_revolutey); |
| 420 | |||
| 421 |
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2 | JointModel jmodelx(joint_revolutex); |
| 422 |
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2 | jmodelx.setIndexes(0, 0, 0); |
| 423 | |||
| 424 |
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2 | JointModel jmodelx_copy = jmodelx; |
| 425 |
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2 | BOOST_CHECK(jmodelx_copy == jmodelx); |
| 426 |
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2 | BOOST_CHECK(jmodelx_copy == jmodelx.derived()); |
| 427 | |||
| 428 |
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2 | 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 |
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2 | BOOST_CHECK(jmodely != jmodelx); |
| 432 | 2 | } | |
| 433 | |||
| 434 |
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4 | BOOST_AUTO_TEST_CASE(cast) |
| 435 | { | ||
| 436 |
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2 | JointModelRX joint_revolutex; |
| 437 | |||
| 438 |
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2 | JointModel jmodelx(joint_revolutex); |
| 439 |
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2 | jmodelx.setIndexes(0, 0, 0); |
| 440 | |||
| 441 |
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2 | BOOST_CHECK(jmodelx.cast<double>() == jmodelx); |
| 442 |
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2 | BOOST_CHECK(jmodelx.cast<long double>().cast<double>() == jmodelx); |
| 443 | 2 | } | |
| 444 | |||
| 445 | struct TestJointOperatorEqual | ||
| 446 | { | ||
| 447 | |||
| 448 | template<typename JointModel> | ||
| 449 | 46 | void operator()(const JointModelBase<JointModel> &) const | |
| 450 | { | ||
| 451 |
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46 | JointModel jmodel_init = init<JointModel>::run(); |
| 452 | typedef typename JointModel::JointDataDerived JointData; | ||
| 453 | |||
| 454 |
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46 | Model model; |
| 455 |
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46 | model.addJoint(0, jmodel_init, SE3::Random(), "toto"); |
| 456 |
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46 | model.lowerPositionLimit.fill(-1.); |
| 457 |
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46 | model.upperPositionLimit.fill(1.); |
| 458 | |||
| 459 |
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46 | const JointModel & jmodel = boost::get<JointModel>(model.joints[1]); |
| 460 | |||
| 461 |
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46 | Eigen::VectorXd q = randomConfiguration(model); |
| 462 |
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46 | Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv); |
| 463 | |||
| 464 |
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46 | JointData jdata = jmodel.createData(); |
| 465 | |||
| 466 |
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46 | jmodel.calc(jdata, q, v); |
| 467 | |||
| 468 |
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46 | Eigen::VectorXd armature = |
| 469 |
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46 | Eigen::VectorXd::Random(jmodel.nv()) + Eigen::VectorXd::Ones(jmodel.nv()); |
| 470 |
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46 | Inertia::Matrix6 I = Inertia::Matrix6::Identity(); |
| 471 |
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46 | jmodel.calc_aba(jdata, armature, I, false); |
| 472 |
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46 | test(jdata); |
| 473 | 46 | } | |
| 474 | |||
| 475 | template<typename JointModel> | ||
| 476 | 6 | void operator()(const pinocchio::JointModelMimic<JointModel> &) const | |
| 477 | { | ||
| 478 | 6 | } | |
| 479 | |||
| 480 | template<typename JointData> | ||
| 481 | 46 | static void test(const JointData & jdata) | |
| 482 | { | ||
| 483 |
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46 | pinocchio::JointData jdata_generic1(jdata); |
| 484 | |||
| 485 |
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46 | std::cout << "name: " << jdata_generic1.shortname() << std::endl; |
| 486 |
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46 | BOOST_CHECK(jdata_generic1 == jdata_generic1); |
| 487 | 46 | } | |
| 488 | }; | ||
| 489 | |||
| 490 |
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|
4 | BOOST_AUTO_TEST_CASE(test_operator_equal) |
| 491 | { | ||
| 492 | 2 | boost::mpl::for_each<JointModelVariant::types>(TestJointOperatorEqual()); | |
| 493 | 2 | } | |
| 494 | |||
| 495 | BOOST_AUTO_TEST_SUITE_END() | ||
| 496 |