| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// |
| 2 |
|
|
// Copyright (c) 2019 INRIA |
| 3 |
|
|
// |
| 4 |
|
|
|
| 5 |
|
|
#include "pinocchio/multibody/joint/joint-generic.hpp" |
| 6 |
|
|
#include "pinocchio/multibody/liegroup/liegroup.hpp" |
| 7 |
|
|
|
| 8 |
|
|
#include <boost/test/unit_test.hpp> |
| 9 |
|
|
#include <boost/utility/binary.hpp> |
| 10 |
|
|
|
| 11 |
|
|
using namespace pinocchio; |
| 12 |
|
|
|
| 13 |
|
|
BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
| 14 |
|
|
|
| 15 |
|
|
typedef Eigen::Matrix<double, 6, Eigen::Dynamic> Matrix6x; |
| 16 |
|
|
|
| 17 |
|
|
template<typename JointModel> |
| 18 |
|
✗ |
void test_constraint_mimic(const JointModelBase<JointModel> & jmodel) |
| 19 |
|
|
{ |
| 20 |
|
|
typedef typename traits<JointModel>::JointDerived Joint; |
| 21 |
|
|
typedef typename traits<Joint>::Constraint_t ConstraintType; |
| 22 |
|
|
typedef typename traits<Joint>::JointDataDerived JointData; |
| 23 |
|
|
typedef ScaledJointMotionSubspace<ConstraintType> ScaledJointMotionSubspaceType; |
| 24 |
|
|
|
| 25 |
|
✗ |
JointData jdata = jmodel.createData(); |
| 26 |
|
|
|
| 27 |
|
✗ |
const double scaling_factor = 2.; |
| 28 |
|
✗ |
ConstraintType constraint_ref(jdata.S), constraint_ref_shared(jdata.S); |
| 29 |
|
✗ |
ScaledJointMotionSubspaceType scaled_constraint(constraint_ref_shared, scaling_factor); |
| 30 |
|
|
|
| 31 |
|
✗ |
BOOST_CHECK(constraint_ref.nv() == scaled_constraint.nv()); |
| 32 |
|
|
|
| 33 |
|
|
typedef typename JointModel::TangentVector_t TangentVector_t; |
| 34 |
|
✗ |
TangentVector_t v = TangentVector_t::Random(); |
| 35 |
|
|
|
| 36 |
|
✗ |
Motion m = scaled_constraint * v; |
| 37 |
|
✗ |
Motion m_ref = scaling_factor * (Motion)(constraint_ref * v); |
| 38 |
|
|
|
| 39 |
|
✗ |
BOOST_CHECK(m.isApprox(m_ref)); |
| 40 |
|
|
|
| 41 |
|
|
{ |
| 42 |
|
✗ |
SE3 M = SE3::Random(); |
| 43 |
|
✗ |
typename ScaledJointMotionSubspaceType::DenseBase S = M.act(scaled_constraint); |
| 44 |
|
✗ |
typename ScaledJointMotionSubspaceType::DenseBase S_ref = |
| 45 |
|
|
scaling_factor * M.act(constraint_ref); |
| 46 |
|
|
|
| 47 |
|
✗ |
BOOST_CHECK(S.isApprox(S_ref)); |
| 48 |
|
|
} |
| 49 |
|
|
|
| 50 |
|
|
{ |
| 51 |
|
✗ |
typename ScaledJointMotionSubspaceType::DenseBase S = scaled_constraint.matrix(); |
| 52 |
|
✗ |
typename ScaledJointMotionSubspaceType::DenseBase S_ref = |
| 53 |
|
|
scaling_factor * constraint_ref.matrix(); |
| 54 |
|
|
|
| 55 |
|
✗ |
BOOST_CHECK(S.isApprox(S_ref)); |
| 56 |
|
|
} |
| 57 |
|
|
|
| 58 |
|
|
{ |
| 59 |
|
✗ |
Motion v = Motion::Random(); |
| 60 |
|
✗ |
typename ScaledJointMotionSubspaceType::DenseBase S = v.cross(scaled_constraint); |
| 61 |
|
✗ |
typename ScaledJointMotionSubspaceType::DenseBase S_ref = |
| 62 |
|
|
scaling_factor * v.cross(constraint_ref); |
| 63 |
|
|
|
| 64 |
|
✗ |
BOOST_CHECK(S.isApprox(S_ref)); |
| 65 |
|
|
} |
| 66 |
|
|
|
| 67 |
|
|
// Test transpose operations |
| 68 |
|
|
{ |
| 69 |
|
✗ |
const Eigen::DenseIndex dim = 20; |
| 70 |
|
✗ |
const Matrix6x Fin = Matrix6x::Random(6, dim); |
| 71 |
|
✗ |
Eigen::MatrixXd Fout = scaled_constraint.transpose() * Fin; |
| 72 |
|
✗ |
Eigen::MatrixXd Fout_ref = scaling_factor * (constraint_ref.transpose() * Fin); |
| 73 |
|
✗ |
BOOST_CHECK(Fout.isApprox(Fout_ref)); |
| 74 |
|
|
|
| 75 |
|
✗ |
Force force_in(Force::Random()); |
| 76 |
|
✗ |
Eigen::MatrixXd Stf = (scaled_constraint.transpose() * force_in); |
| 77 |
|
✗ |
Eigen::MatrixXd Stf_ref = scaling_factor * (constraint_ref.transpose() * force_in); |
| 78 |
|
✗ |
BOOST_CHECK(Stf_ref.isApprox(Stf)); |
| 79 |
|
|
} |
| 80 |
|
|
|
| 81 |
|
|
// CRBA Y*S |
| 82 |
|
|
{ |
| 83 |
|
✗ |
Inertia Y = Inertia::Random(); |
| 84 |
|
✗ |
Eigen::MatrixXd YS = Y * scaled_constraint; |
| 85 |
|
✗ |
Eigen::MatrixXd YS_ref = scaling_factor * (Y * constraint_ref); |
| 86 |
|
|
|
| 87 |
|
✗ |
BOOST_CHECK(YS.isApprox(YS_ref)); |
| 88 |
|
|
} |
| 89 |
|
|
} |
| 90 |
|
|
|
| 91 |
|
|
struct TestJointConstraint |
| 92 |
|
|
{ |
| 93 |
|
|
|
| 94 |
|
|
template<typename JointModel> |
| 95 |
|
✗ |
void operator()(const JointModelBase<JointModel> &) const |
| 96 |
|
|
{ |
| 97 |
|
✗ |
JointModel jmodel; |
| 98 |
|
✗ |
jmodel.setIndexes(0, 0, 0); |
| 99 |
|
|
|
| 100 |
|
✗ |
test_constraint_mimic(jmodel); |
| 101 |
|
|
} |
| 102 |
|
|
|
| 103 |
|
✗ |
void operator()(const JointModelBase<JointModelRevoluteUnaligned> &) const |
| 104 |
|
|
{ |
| 105 |
|
✗ |
JointModelRevoluteUnaligned jmodel(1.5, 1., 0.); |
| 106 |
|
✗ |
jmodel.setIndexes(0, 0, 0); |
| 107 |
|
|
|
| 108 |
|
✗ |
test_constraint_mimic(jmodel); |
| 109 |
|
|
} |
| 110 |
|
|
|
| 111 |
|
✗ |
void operator()(const JointModelBase<JointModelPrismaticUnaligned> &) const |
| 112 |
|
|
{ |
| 113 |
|
✗ |
JointModelPrismaticUnaligned jmodel(1.5, 1., 0.); |
| 114 |
|
✗ |
jmodel.setIndexes(0, 0, 0); |
| 115 |
|
|
|
| 116 |
|
✗ |
test_constraint_mimic(jmodel); |
| 117 |
|
|
} |
| 118 |
|
|
}; |
| 119 |
|
|
|
| 120 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_constraint) |
| 121 |
|
|
{ |
| 122 |
|
|
using namespace pinocchio; |
| 123 |
|
|
typedef boost::variant< |
| 124 |
|
|
JointModelRX, JointModelRY, JointModelRZ, JointModelRevoluteUnaligned, JointModelPX, |
| 125 |
|
|
JointModelPY, JointModelPZ, JointModelPrismaticUnaligned, JointModelRUBX, JointModelRUBY, |
| 126 |
|
|
JointModelRUBZ> |
| 127 |
|
|
Variant; |
| 128 |
|
|
|
| 129 |
|
✗ |
boost::mpl::for_each<Variant::types>(TestJointConstraint()); |
| 130 |
|
|
} |
| 131 |
|
|
|
| 132 |
|
|
template<typename JointModel> |
| 133 |
|
✗ |
void test_joint_mimic(const JointModelBase<JointModel> & jmodel) |
| 134 |
|
|
{ |
| 135 |
|
|
typedef typename traits<JointModel>::JointDerived Joint; |
| 136 |
|
|
typedef typename traits<Joint>::JointDataDerived JointData; |
| 137 |
|
|
|
| 138 |
|
✗ |
JointData jdata = jmodel.createData(); |
| 139 |
|
|
|
| 140 |
|
✗ |
const double scaling_factor = 1.; |
| 141 |
|
✗ |
const double offset = 0.; |
| 142 |
|
|
|
| 143 |
|
|
typedef JointMimic<Joint> JointMimicType; |
| 144 |
|
|
typedef typename traits<JointMimicType>::JointModelDerived JointModelMimicType; |
| 145 |
|
|
typedef typename traits<JointMimicType>::JointDataDerived JointDataMimicType; |
| 146 |
|
|
|
| 147 |
|
|
// test constructor |
| 148 |
|
✗ |
JointModelMimicType jmodel_mimic(jmodel.derived(), scaling_factor, offset); |
| 149 |
|
✗ |
JointDataMimicType jdata_mimic = jmodel_mimic.createData(); |
| 150 |
|
|
|
| 151 |
|
✗ |
BOOST_CHECK(jmodel_mimic.nq() == 0); |
| 152 |
|
✗ |
BOOST_CHECK(jmodel_mimic.nv() == 0); |
| 153 |
|
|
|
| 154 |
|
✗ |
BOOST_CHECK(jmodel_mimic.idx_q() == jmodel.idx_q()); |
| 155 |
|
✗ |
BOOST_CHECK(jmodel_mimic.idx_v() == jmodel.idx_v()); |
| 156 |
|
|
|
| 157 |
|
✗ |
BOOST_CHECK(jmodel_mimic.idx_q() == 0); |
| 158 |
|
✗ |
BOOST_CHECK(jmodel_mimic.idx_v() == 0); |
| 159 |
|
|
|
| 160 |
|
|
typedef typename JointModelMimicType::ConfigVector_t ConfigVectorType; |
| 161 |
|
|
typedef typename LieGroup<JointModel>::type LieGroupType; |
| 162 |
|
✗ |
ConfigVectorType q0 = |
| 163 |
|
✗ |
LieGroupType().randomConfiguration(-ConfigVectorType::Ones(), ConfigVectorType::Ones()); |
| 164 |
|
|
|
| 165 |
|
✗ |
jmodel.calc(jdata, q0); |
| 166 |
|
✗ |
jmodel_mimic.calc(jdata_mimic, q0); |
| 167 |
|
|
|
| 168 |
|
✗ |
BOOST_CHECK(((SE3)jdata.M).isApprox((SE3)jdata_mimic.M())); |
| 169 |
|
✗ |
BOOST_CHECK(jdata.S.matrix().isApprox(jdata_mimic.S.matrix())); |
| 170 |
|
|
|
| 171 |
|
|
typedef typename JointModelMimicType::TangentVector_t TangentVectorType; |
| 172 |
|
|
|
| 173 |
|
✗ |
q0 = LieGroupType().randomConfiguration(-ConfigVectorType::Ones(), ConfigVectorType::Ones()); |
| 174 |
|
✗ |
TangentVectorType v0 = TangentVectorType::Random(); |
| 175 |
|
✗ |
jmodel.calc(jdata, q0, v0); |
| 176 |
|
✗ |
jmodel_mimic.calc(jdata_mimic, q0, v0); |
| 177 |
|
|
|
| 178 |
|
✗ |
BOOST_CHECK(((SE3)jdata.M).isApprox((SE3)jdata_mimic.M())); |
| 179 |
|
✗ |
BOOST_CHECK(jdata.S.matrix().isApprox(jdata_mimic.S.matrix())); |
| 180 |
|
✗ |
BOOST_CHECK(((Motion)jdata.v).isApprox((Motion)jdata_mimic.v())); |
| 181 |
|
|
} |
| 182 |
|
|
|
| 183 |
|
|
struct TestJointMimic |
| 184 |
|
|
{ |
| 185 |
|
|
|
| 186 |
|
|
template<typename JointModel> |
| 187 |
|
✗ |
void operator()(const JointModelBase<JointModel> &) const |
| 188 |
|
|
{ |
| 189 |
|
✗ |
JointModel jmodel; |
| 190 |
|
✗ |
jmodel.setIndexes(0, 0, 0); |
| 191 |
|
|
|
| 192 |
|
✗ |
test_joint_mimic(jmodel); |
| 193 |
|
|
} |
| 194 |
|
|
|
| 195 |
|
✗ |
void operator()(const JointModelBase<JointModelRevoluteUnaligned> &) const |
| 196 |
|
|
{ |
| 197 |
|
✗ |
JointModelRevoluteUnaligned jmodel(1.5, 1., 0.); |
| 198 |
|
✗ |
jmodel.setIndexes(0, 0, 0); |
| 199 |
|
|
|
| 200 |
|
✗ |
test_joint_mimic(jmodel); |
| 201 |
|
|
} |
| 202 |
|
|
|
| 203 |
|
✗ |
void operator()(const JointModelBase<JointModelPrismaticUnaligned> &) const |
| 204 |
|
|
{ |
| 205 |
|
✗ |
JointModelPrismaticUnaligned jmodel(1.5, 1., 0.); |
| 206 |
|
✗ |
jmodel.setIndexes(0, 0, 0); |
| 207 |
|
|
|
| 208 |
|
✗ |
test_joint_mimic(jmodel); |
| 209 |
|
|
} |
| 210 |
|
|
}; |
| 211 |
|
|
|
| 212 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_joint) |
| 213 |
|
|
{ |
| 214 |
|
|
using namespace pinocchio; |
| 215 |
|
|
typedef boost::variant< |
| 216 |
|
|
JointModelRX, JointModelRY, JointModelRZ, JointModelRevoluteUnaligned, JointModelPX, |
| 217 |
|
|
JointModelPY, JointModelPZ, JointModelPrismaticUnaligned, JointModelRUBX, JointModelRUBY, |
| 218 |
|
|
JointModelRUBZ> |
| 219 |
|
|
Variant; |
| 220 |
|
|
|
| 221 |
|
✗ |
boost::mpl::for_each<Variant::types>(TestJointMimic()); |
| 222 |
|
|
} |
| 223 |
|
|
|
| 224 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_transform_linear_affine) |
| 225 |
|
|
{ |
| 226 |
|
|
typedef JointModelRX::ConfigVector_t ConfigVectorType; |
| 227 |
|
✗ |
double scaling = 1., offset = 0.; |
| 228 |
|
|
|
| 229 |
|
✗ |
ConfigVectorType q0 = ConfigVectorType::Random(); |
| 230 |
|
✗ |
ConfigVectorType q1; |
| 231 |
|
✗ |
LinearAffineTransform::run(q0, scaling, offset, q1); |
| 232 |
|
✗ |
BOOST_CHECK(q0 == q1); |
| 233 |
|
|
|
| 234 |
|
✗ |
offset = 2.; |
| 235 |
|
✗ |
LinearAffineTransform::run(ConfigVectorType::Zero(), scaling, offset, q1); |
| 236 |
|
✗ |
BOOST_CHECK(q1 == ConfigVectorType::Constant(offset)); |
| 237 |
|
|
} |
| 238 |
|
|
|
| 239 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_transform_linear_revolute) |
| 240 |
|
|
{ |
| 241 |
|
|
typedef JointModelRUBX::ConfigVector_t ConfigVectorType; |
| 242 |
|
✗ |
double scaling = 1., offset = 0.; |
| 243 |
|
|
|
| 244 |
|
✗ |
ConfigVectorType q0 = ConfigVectorType::Random().normalized(); |
| 245 |
|
✗ |
ConfigVectorType q1; |
| 246 |
|
✗ |
UnboundedRevoluteAffineTransform::run(q0, scaling, offset, q1); |
| 247 |
|
✗ |
BOOST_CHECK(q0.isApprox(q1)); |
| 248 |
|
|
|
| 249 |
|
✗ |
offset = 2.; |
| 250 |
|
✗ |
UnboundedRevoluteAffineTransform::run(ConfigVectorType::Zero(), scaling, offset, q1); |
| 251 |
|
✗ |
BOOST_CHECK(q1 == ConfigVectorType(math::cos(offset), math::sin(offset))); |
| 252 |
|
|
} |
| 253 |
|
|
|
| 254 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_joint_generic_cast) |
| 255 |
|
|
{ |
| 256 |
|
✗ |
JointModelRX jmodel_ref; |
| 257 |
|
✗ |
jmodel_ref.setIndexes(1, 2, 3); |
| 258 |
|
|
|
| 259 |
|
✗ |
JointModelMimic<JointModelRX> jmodel(jmodel_ref, 2., 1.); |
| 260 |
|
✗ |
jmodel.setIndexes(1, -1, -1); |
| 261 |
|
|
|
| 262 |
|
✗ |
BOOST_CHECK(jmodel.id() == jmodel_ref.id()); |
| 263 |
|
✗ |
BOOST_CHECK(jmodel.idx_q() == jmodel_ref.idx_q()); |
| 264 |
|
✗ |
BOOST_CHECK(jmodel.idx_v() == jmodel_ref.idx_v()); |
| 265 |
|
|
|
| 266 |
|
✗ |
JointModel jmodel_generic(jmodel); |
| 267 |
|
✗ |
jmodel_generic.setIndexes(1, -2, -2); |
| 268 |
|
|
|
| 269 |
|
✗ |
BOOST_CHECK(jmodel_generic.id() == jmodel_ref.id()); |
| 270 |
|
|
} |
| 271 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
| 272 |
|
|
|