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// |
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// Copyright (c) 2015-2019 CNRS INRIA |
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// |
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#include "pinocchio/spatial/se3.hpp" |
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#include "pinocchio/spatial/inertia.hpp" |
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#include "pinocchio/multibody/force-set.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 "utils/macros.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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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_ForceSet) |
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{ |
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using namespace pinocchio; |
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SE3 amb = SE3::Random(); |
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SE3 bmc = SE3::Random(); |
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SE3 amc = amb * bmc; |
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ForceSet F(12); |
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ForceSet F2(Eigen::Matrix<double, 3, 2>::Zero(), Eigen::Matrix<double, 3, 2>::Zero()); |
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F.block(10, 2) = F2; |
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BOOST_CHECK_EQUAL(F.matrix().col(10).norm(), 0.0); |
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BOOST_CHECK(std::isnan(F.matrix()(0, 9))); |
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ForceSet F3(Eigen::Matrix<double, 3, 12>::Random(), Eigen::Matrix<double, 3, 12>::Random()); |
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ForceSet F4 = amb.act(F3); |
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SE3::Matrix6 aXb = amb; |
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BOOST_CHECK((aXb.transpose().inverse() * F3.matrix()).isApprox(F4.matrix(), 1e-12)); |
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ForceSet bF = bmc.act(F3); |
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ForceSet aF = amb.act(bF); |
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ForceSet aF2 = amc.act(F3); |
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BOOST_CHECK(aF.matrix().isApprox(aF2.matrix(), 1e-12)); |
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ForceSet F36 = amb.act(F3.block(3, 6)); |
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BOOST_CHECK( |
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(aXb.transpose().inverse() * F3.matrix().block(0, 3, 6, 6)).isApprox(F36.matrix(), 1e-12)); |
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ForceSet F36full(12); |
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F36full.block(3, 6) = amb.act(F3.block(3, 6)); |
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BOOST_CHECK((aXb.transpose().inverse() * F3.matrix().block(0, 3, 6, 6)) |
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.isApprox(F36full.matrix().block(0, 3, 6, 6), 1e-12)); |
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} |
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BOOST_AUTO_TEST_CASE(test_ConstraintRX) |
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{ |
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using namespace pinocchio; |
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Inertia Y = Inertia::Random(); |
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JointDataRX::Constraint_t S; |
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ForceSet F1(1); |
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F1.block(0, 1) = Y * S; |
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BOOST_CHECK(F1.matrix().isApprox(Y.matrix().col(3), 1e-12)); |
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ForceSet F2(Eigen::Matrix<double, 3, 9>::Random(), Eigen::Matrix<double, 3, 9>::Random()); |
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Eigen::MatrixXd StF2 = S.transpose() * F2.block(5, 3).matrix(); |
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BOOST_CHECK(StF2.isApprox(S.matrix().transpose() * F2.matrix().block(0, 5, 6, 3), 1e-12)); |
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} |
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template<typename JointModel> |
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void test_jmodel_nq_against_nq_ref(const JointModelBase<JointModel> & jmodel, const int & nq_ref) |
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{ |
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BOOST_CHECK(jmodel.nq() == nq_ref); |
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} |
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template<typename JointModel> |
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void test_jmodel_nq_against_nq_ref(const JointModelMimic<JointModel> & jmodel, const int & nq_ref) |
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{ |
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BOOST_CHECK(jmodel.jmodel().nq() == nq_ref); |
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} |
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template<typename JointModel, typename ConstraintDerived> |
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void test_nv_against_jmodel( |
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const JointModelBase<JointModel> & jmodel, |
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const JointMotionSubspaceBase<ConstraintDerived> & constraint) |
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{ |
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BOOST_CHECK(constraint.nv() == jmodel.nv()); |
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} |
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template<typename JointModel, typename ConstraintDerived> |
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void test_nv_against_jmodel( |
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const JointModelMimic<JointModel> & jmodel, |
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const JointMotionSubspaceBase<ConstraintDerived> & constraint) |
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{ |
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BOOST_CHECK(constraint.nv() == jmodel.jmodel().nv()); |
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} |
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template<class JointModel> |
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struct buildModel |
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{ |
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static Model run(const JointModelBase<JointModel> & jmodel) |
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{ |
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Model model; |
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model.addJoint(0, jmodel, SE3::Identity(), "joint"); |
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return model; |
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} |
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}; |
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template<class JointModel> |
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struct buildModel<JointModelMimic<JointModel>> |
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{ |
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typedef JointModelMimic<JointModel> JointModel_; |
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static Model run(const JointModel_ & jmodel) |
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{ |
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Model model; |
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model.addJoint(0, jmodel.jmodel(), SE3::Identity(), "joint"); |
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model.addJoint(0, jmodel, SE3::Identity(), "joint_mimic"); |
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return model; |
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} |
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}; |
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template<typename JointModel> |
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void test_constraint_operations(const JointModelBase<JointModel> & jmodel) |
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{ |
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typedef typename traits<JointModel>::JointDerived Joint; |
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typedef typename traits<Joint>::Constraint_t ConstraintType; |
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typedef typename traits<Joint>::JointDataDerived JointData; |
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typedef Eigen::Matrix<typename JointModel::Scalar, 6, Eigen::Dynamic> Matrix6x; |
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JointData jdata = jmodel.createData(); |
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typedef typename JointModel::ConfigVector_t ConfigVector_t; |
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ConfigVector_t q; |
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// We need to use a model here in order to call the randomConfiguration to init q. |
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Model model = buildModel<JointModel>::run(jmodel.derived()); |
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test_jmodel_nq_against_nq_ref(jmodel.derived(), model.nq); |
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q = randomConfiguration( |
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model, ConfigVector_t::Constant(model.nq, -1.), ConfigVector_t::Constant(model.nq, 1.)); |
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// By calling jmodel.calc, we then have jdata.S which is initialized with non NaN quantities |
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jmodel.calc(jdata, q); |
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ConstraintType constraint(jdata.S); |
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test_nv_against_jmodel(jmodel.derived(), constraint); |
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BOOST_CHECK(constraint.cols() == constraint.nv()); |
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BOOST_CHECK(constraint.rows() == 6); |
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typedef typename JointModel::TangentVector_t TangentVector_t; |
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TangentVector_t v = TangentVector_t::Random(constraint.nv()); |
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typename ConstraintType::DenseBase constraint_mat = constraint.matrix(); |
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Motion m = constraint * v; |
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Motion m_ref = Motion(constraint_mat * v); |
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BOOST_CHECK(m.isApprox(m_ref)); |
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// Test SE3 action |
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{ |
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SE3 M = SE3::Random(); |
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typename ConstraintType::DenseBase S = M.act(constraint); |
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typename ConstraintType::DenseBase S_ref(6, constraint.nv()); |
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for (Eigen::DenseIndex k = 0; k < constraint.nv(); ++k) |
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{ |
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typedef typename ConstraintType::DenseBase::ColXpr Vector6Like; |
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MotionRef<Vector6Like> m_in(constraint_mat.col(k)), m_out(S_ref.col(k)); |
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m_out = M.act(m_in); |
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} |
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BOOST_CHECK(S.isApprox(S_ref)); |
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} |
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// Test SE3 action inverse |
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{ |
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SE3 M = SE3::Random(); |
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typename ConstraintType::DenseBase S = M.actInv(constraint); |
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typename ConstraintType::DenseBase S_ref(6, constraint.nv()); |
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for (Eigen::DenseIndex k = 0; k < constraint.nv(); ++k) |
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{ |
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typedef typename ConstraintType::DenseBase::ColXpr Vector6Like; |
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MotionRef<Vector6Like> m_in(constraint_mat.col(k)), m_out(S_ref.col(k)); |
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m_out = M.actInv(m_in); |
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} |
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BOOST_CHECK(S.isApprox(S_ref)); |
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} |
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// Test SE3 action and SE3 action inverse |
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{ |
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const SE3 M = SE3::Random(); |
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const SE3 Minv = M.inverse(); |
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typename ConstraintType::DenseBase S1_vice = M.actInv(constraint); |
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typename ConstraintType::DenseBase S2_vice = Minv.act(constraint); |
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BOOST_CHECK(S1_vice.isApprox(S2_vice)); |
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typename ConstraintType::DenseBase S1_versa = M.act(constraint); |
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typename ConstraintType::DenseBase S2_versa = Minv.actInv(constraint); |
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BOOST_CHECK(S1_versa.isApprox(S2_versa)); |
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} |
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// Test Motion action |
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{ |
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Motion v = Motion::Random(); |
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typename ConstraintType::DenseBase S = v.cross(constraint); |
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typename ConstraintType::DenseBase S_ref(6, constraint.nv()); |
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for (Eigen::DenseIndex k = 0; k < constraint.nv(); ++k) |
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{ |
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typedef typename ConstraintType::DenseBase::ColXpr Vector6Like; |
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MotionRef<Vector6Like> m_in(constraint_mat.col(k)), m_out(S_ref.col(k)); |
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m_out = v.cross(m_in); |
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} |
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BOOST_CHECK(S.isApprox(S_ref)); |
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} |
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// Test transpose operations |
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{ |
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const Eigen::DenseIndex dim = 20; |
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const Matrix6x Fin = Matrix6x::Random(6, dim); |
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Eigen::MatrixXd Fout = constraint.transpose() * Fin; |
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Eigen::MatrixXd Fout_ref = constraint_mat.transpose() * Fin; |
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BOOST_CHECK(Fout.isApprox(Fout_ref)); |
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Force force_in(Force::Random()); |
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Eigen::MatrixXd Stf = (constraint.transpose() * force_in); |
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Eigen::MatrixXd Stf_ref = constraint_mat.transpose() * force_in.toVector(); |
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BOOST_CHECK(Stf_ref.isApprox(Stf)); |
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} |
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// CRBA operations |
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{ |
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const Inertia Y = Inertia::Random(); |
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Eigen::MatrixXd YS = Y * constraint; |
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Eigen::MatrixXd YS_ref = Y.matrix() * constraint_mat; |
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BOOST_CHECK(YS.isApprox(YS_ref)); |
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} |
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// ABA operations |
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{ |
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const Inertia Y = Inertia::Random(); |
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const Inertia::Matrix6 Y_mat = Y.matrix(); |
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Eigen::MatrixXd YS = Y_mat * constraint; |
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Eigen::MatrixXd YS_ref = Y_mat * constraint_mat; |
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BOOST_CHECK(YS.isApprox(YS_ref)); |
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} |
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// Test constrainst operations |
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{ |
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Eigen::MatrixXd StS = constraint.transpose() * constraint; |
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Eigen::MatrixXd StS_ref = constraint_mat.transpose() * constraint_mat; |
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BOOST_CHECK(StS.isApprox(StS_ref)); |
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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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} |
| 343 |
|
|
}; |
| 344 |
|
|
|
| 345 |
|
|
template<typename Scalar, int Options> |
| 346 |
|
|
struct init<pinocchio::JointModelUniversalTpl<Scalar, Options>> |
| 347 |
|
|
{ |
| 348 |
|
|
typedef pinocchio::JointModelUniversalTpl<Scalar, Options> JointModel; |
| 349 |
|
|
|
| 350 |
|
✗ |
static JointModel run() |
| 351 |
|
|
{ |
| 352 |
|
✗ |
JointModel jmodel(XAxis::vector(), YAxis::vector()); |
| 353 |
|
|
|
| 354 |
|
✗ |
jmodel.setIndexes(0, 0, 0); |
| 355 |
|
✗ |
return jmodel; |
| 356 |
|
|
} |
| 357 |
|
|
}; |
| 358 |
|
|
|
| 359 |
|
|
template<typename Scalar, int Options, template<typename, int> class JointCollection> |
| 360 |
|
|
struct init<pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollection>> |
| 361 |
|
|
{ |
| 362 |
|
|
typedef pinocchio::JointModelCompositeTpl<Scalar, Options, JointCollection> JointModel; |
| 363 |
|
|
|
| 364 |
|
✗ |
static JointModel run() |
| 365 |
|
|
{ |
| 366 |
|
|
typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 0> JointModelRX; |
| 367 |
|
|
typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 1> JointModelRY; |
| 368 |
|
|
typedef pinocchio::JointModelRevoluteTpl<Scalar, Options, 2> JointModelRZ; |
| 369 |
|
|
|
| 370 |
|
✗ |
JointModel jmodel(JointModelRX(), SE3::Random()); |
| 371 |
|
✗ |
jmodel.addJoint(JointModelRY(), SE3::Random()); |
| 372 |
|
✗ |
jmodel.addJoint(JointModelRZ(), SE3::Random()); |
| 373 |
|
|
|
| 374 |
|
✗ |
jmodel.setIndexes(0, 0, 0); |
| 375 |
|
|
|
| 376 |
|
✗ |
return jmodel; |
| 377 |
|
|
} |
| 378 |
|
|
}; |
| 379 |
|
|
|
| 380 |
|
|
template<typename JointModel_> |
| 381 |
|
|
struct init<pinocchio::JointModelMimic<JointModel_>> |
| 382 |
|
|
{ |
| 383 |
|
|
typedef pinocchio::JointModelMimic<JointModel_> JointModel; |
| 384 |
|
|
|
| 385 |
|
✗ |
static JointModel run() |
| 386 |
|
|
{ |
| 387 |
|
✗ |
JointModel_ jmodel_ref = init<JointModel_>::run(); |
| 388 |
|
|
|
| 389 |
|
✗ |
JointModel jmodel(jmodel_ref, 1., 0.); |
| 390 |
|
✗ |
jmodel.setIndexes(0, 0, 0); |
| 391 |
|
|
|
| 392 |
|
✗ |
return jmodel; |
| 393 |
|
|
} |
| 394 |
|
|
}; |
| 395 |
|
|
|
| 396 |
|
|
template<typename Scalar, int Options, int axis> |
| 397 |
|
|
struct init<pinocchio::JointModelHelicalTpl<Scalar, Options, axis>> |
| 398 |
|
|
{ |
| 399 |
|
|
typedef pinocchio::JointModelHelicalTpl<Scalar, Options, axis> JointModel; |
| 400 |
|
|
|
| 401 |
|
✗ |
static JointModel run() |
| 402 |
|
|
{ |
| 403 |
|
✗ |
JointModel jmodel(static_cast<Scalar>(0.5)); |
| 404 |
|
|
|
| 405 |
|
✗ |
jmodel.setIndexes(0, 0, 0); |
| 406 |
|
✗ |
return jmodel; |
| 407 |
|
|
} |
| 408 |
|
|
}; |
| 409 |
|
|
|
| 410 |
|
|
template<typename Scalar, int Options> |
| 411 |
|
|
struct init<pinocchio::JointModelHelicalUnalignedTpl<Scalar, Options>> |
| 412 |
|
|
{ |
| 413 |
|
|
typedef pinocchio::JointModelHelicalUnalignedTpl<Scalar, Options> JointModel; |
| 414 |
|
|
|
| 415 |
|
✗ |
static JointModel run() |
| 416 |
|
|
{ |
| 417 |
|
|
typedef typename JointModel::Vector3 Vector3; |
| 418 |
|
✗ |
JointModel jmodel(Vector3::Random().normalized()); |
| 419 |
|
|
|
| 420 |
|
✗ |
jmodel.setIndexes(0, 0, 0); |
| 421 |
|
✗ |
return jmodel; |
| 422 |
|
|
} |
| 423 |
|
|
}; |
| 424 |
|
|
|
| 425 |
|
|
struct TestJointConstraint |
| 426 |
|
|
{ |
| 427 |
|
|
|
| 428 |
|
|
template<typename JointModel> |
| 429 |
|
✗ |
void operator()(const JointModelBase<JointModel> &) const |
| 430 |
|
|
{ |
| 431 |
|
✗ |
JointModel jmodel = init<JointModel>::run(); |
| 432 |
|
✗ |
jmodel.setIndexes(0, 0, 0); |
| 433 |
|
|
|
| 434 |
|
✗ |
test_constraint_operations(jmodel); |
| 435 |
|
|
} |
| 436 |
|
|
}; |
| 437 |
|
|
|
| 438 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_joint_constraint_operations) |
| 439 |
|
|
{ |
| 440 |
|
|
typedef JointCollectionDefault::JointModelVariant Variant; |
| 441 |
|
✗ |
boost::mpl::for_each<Variant::types>(TestJointConstraint()); |
| 442 |
|
|
} |
| 443 |
|
|
|
| 444 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
| 445 |
|
|
|