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// Copyright (c) 2015-2020 CNRS INRIA |
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// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France. |
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// |
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#include "pinocchio/math/fwd.hpp" |
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#include "pinocchio/multibody/joint/joints.hpp" |
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#include "pinocchio/algorithm/rnea.hpp" |
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#include "pinocchio/algorithm/aba.hpp" |
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#include "pinocchio/algorithm/crba.hpp" |
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#include "pinocchio/algorithm/jacobian.hpp" |
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#include "pinocchio/algorithm/compute-all-terms.hpp" |
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#include <boost/test/unit_test.hpp> |
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#include <iostream> |
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using namespace pinocchio; |
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template<typename D> |
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void addJointAndBody( |
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Model & model, |
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const JointModelBase<D> & jmodel, |
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const Model::JointIndex parent_id, |
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const SE3 & joint_placement, |
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const std::string & joint_name, |
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const Inertia & Y) |
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{ |
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Model::JointIndex idx; |
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idx = model.addJoint(parent_id, jmodel, joint_placement, joint_name); |
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model.appendBodyToJoint(idx, Y); |
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} |
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BOOST_AUTO_TEST_SUITE(JointPlanar) |
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BOOST_AUTO_TEST_CASE(spatial) |
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{ |
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SE3 M(SE3::Random()); |
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Motion v(Motion::Random()); |
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MotionPlanar mp(1., 2., 3.); |
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Motion mp_dense(mp); |
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BOOST_CHECK(M.act(mp).isApprox(M.act(mp_dense))); |
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BOOST_CHECK(M.actInv(mp).isApprox(M.actInv(mp_dense))); |
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BOOST_CHECK(v.cross(mp).isApprox(v.cross(mp_dense))); |
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} |
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BOOST_AUTO_TEST_CASE(vsFreeFlyer) |
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{ |
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using namespace pinocchio; |
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typedef SE3::Vector3 Vector3; |
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typedef Eigen::Matrix<double, 6, 1> Vector6; |
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typedef Eigen::Matrix<double, 4, 1> VectorPl; |
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typedef Eigen::Matrix<double, 7, 1> VectorFF; |
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typedef SE3::Matrix3 Matrix3; |
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Model modelPlanar, modelFreeflyer; |
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Inertia inertia(1., Vector3(0.5, 0., 0.0), Matrix3::Identity()); |
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SE3 pos(1); |
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pos.translation() = SE3::LinearType(1., 0., 0.); |
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addJointAndBody(modelPlanar, JointModelPlanar(), 0, SE3::Identity(), "planar", inertia); |
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addJointAndBody(modelFreeflyer, JointModelFreeFlyer(), 0, SE3::Identity(), "free-flyer", inertia); |
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Data dataPlanar(modelPlanar); |
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Data dataFreeFlyer(modelFreeflyer); |
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VectorPl q; |
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q << 1, 1, 0, 1; // Angle is PI /2; |
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VectorFF qff; |
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qff << 1, 1, 0, 0, 0, sqrt(2) / 2, sqrt(2) / 2; |
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Eigen::VectorXd v = Eigen::VectorXd::Ones(modelPlanar.nv); |
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Vector6 vff; |
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vff << 1, 1, 0, 0, 0, 1; |
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Eigen::VectorXd tauPlanar = Eigen::VectorXd::Ones(modelPlanar.nv); |
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Eigen::VectorXd tauff = Eigen::VectorXd::Ones(modelFreeflyer.nv); |
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Eigen::VectorXd aPlanar = Eigen::VectorXd::Ones(modelPlanar.nv); |
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Eigen::VectorXd aff(vff); |
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forwardKinematics(modelPlanar, dataPlanar, q, v); |
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forwardKinematics(modelFreeflyer, dataFreeFlyer, qff, vff); |
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computeAllTerms(modelPlanar, dataPlanar, q, v); |
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computeAllTerms(modelFreeflyer, dataFreeFlyer, qff, vff); |
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BOOST_CHECK(dataFreeFlyer.oMi[1].isApprox(dataPlanar.oMi[1])); |
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BOOST_CHECK(dataFreeFlyer.liMi[1].isApprox(dataPlanar.liMi[1])); |
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BOOST_CHECK(dataFreeFlyer.Ycrb[1].matrix().isApprox(dataPlanar.Ycrb[1].matrix())); |
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BOOST_CHECK(dataFreeFlyer.f[1].toVector().isApprox(dataPlanar.f[1].toVector())); |
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Eigen::VectorXd nle_expected_ff(3); |
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nle_expected_ff << dataFreeFlyer.nle[0], dataFreeFlyer.nle[1], dataFreeFlyer.nle[5]; |
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BOOST_CHECK(nle_expected_ff.isApprox(dataPlanar.nle)); |
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BOOST_CHECK(dataFreeFlyer.com[0].isApprox(dataPlanar.com[0])); |
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// InverseDynamics == rnea |
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tauPlanar = rnea(modelPlanar, dataPlanar, q, v, aPlanar); |
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tauff = rnea(modelFreeflyer, dataFreeFlyer, qff, vff, aff); |
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Vector3 tau_expected; |
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tau_expected << tauff(0), tauff(1), tauff(5); |
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BOOST_CHECK(tauPlanar.isApprox(tau_expected)); |
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// ForwardDynamics == aba |
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Eigen::VectorXd aAbaPlanar = aba(modelPlanar, dataPlanar, q, v, tauPlanar, Convention::WORLD); |
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Eigen::VectorXd aAbaFreeFlyer = |
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aba(modelFreeflyer, dataFreeFlyer, qff, vff, tauff, Convention::WORLD); |
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Vector3 a_expected; |
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a_expected << aAbaFreeFlyer[0], aAbaFreeFlyer[1], aAbaFreeFlyer[5]; |
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BOOST_CHECK(aAbaPlanar.isApprox(a_expected)); |
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// crba |
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crba(modelPlanar, dataPlanar, q, Convention::WORLD); |
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crba(modelFreeflyer, dataFreeFlyer, qff, Convention::WORLD); |
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Eigen::Matrix<double, 3, 3> M_expected; |
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M_expected.block<2, 2>(0, 0) = dataFreeFlyer.M.block<2, 2>(0, 0); |
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M_expected.block<1, 2>(2, 0) = dataFreeFlyer.M.block<1, 2>(5, 0); |
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M_expected.block<2, 1>(0, 2) = dataFreeFlyer.M.col(5).head<2>(); |
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M_expected.block<1, 1>(2, 2) = dataFreeFlyer.M.col(5).tail<1>(); |
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BOOST_CHECK(dataPlanar.M.isApprox(M_expected)); |
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// Jacobian |
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Eigen::Matrix<double, 6, Eigen::Dynamic> jacobian_planar; |
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jacobian_planar.resize(6, 3); |
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jacobian_planar.setZero(); |
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Eigen::Matrix<double, 6, Eigen::Dynamic> jacobian_ff; |
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jacobian_ff.resize(6, 6); |
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jacobian_ff.setZero(); |
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computeJointJacobians(modelPlanar, dataPlanar, q); |
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computeJointJacobians(modelFreeflyer, dataFreeFlyer, qff); |
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getJointJacobian(modelPlanar, dataPlanar, 1, LOCAL, jacobian_planar); |
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getJointJacobian(modelFreeflyer, dataFreeFlyer, 1, LOCAL, jacobian_ff); |
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Eigen::Matrix<double, 6, 3> jacobian_expected; |
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jacobian_expected << jacobian_ff.col(0), jacobian_ff.col(1), jacobian_ff.col(5); |
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BOOST_CHECK(jacobian_planar.isApprox(jacobian_expected)); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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