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// |
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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(JointPrismatic) |
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BOOST_AUTO_TEST_CASE(spatial) |
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{ |
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typedef TransformPrismaticTpl<double, 0, 0> TransformX; |
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typedef TransformPrismaticTpl<double, 0, 1> TransformY; |
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typedef TransformPrismaticTpl<double, 0, 2> TransformZ; |
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typedef SE3::Vector3 Vector3; |
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const double displacement = 0.2; |
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SE3 Mplain, Mrand(SE3::Random()); |
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TransformX Mx(displacement); |
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Mplain = Mx; |
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BOOST_CHECK(Mplain.translation().isApprox(Vector3(displacement, 0, 0))); |
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BOOST_CHECK(Mplain.rotation().isIdentity()); |
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BOOST_CHECK((Mrand * Mplain).isApprox(Mrand * Mx)); |
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TransformY My(displacement); |
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Mplain = My; |
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BOOST_CHECK(Mplain.translation().isApprox(Vector3(0, displacement, 0))); |
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BOOST_CHECK(Mplain.rotation().isIdentity()); |
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BOOST_CHECK((Mrand * Mplain).isApprox(Mrand * My)); |
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TransformZ Mz(displacement); |
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Mplain = Mz; |
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BOOST_CHECK(Mplain.translation().isApprox(Vector3(0, 0, displacement))); |
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BOOST_CHECK(Mplain.rotation().isIdentity()); |
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BOOST_CHECK((Mrand * Mplain).isApprox(Mrand * Mz)); |
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SE3 M(SE3::Random()); |
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Motion v(Motion::Random()); |
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MotionPrismaticTpl<double, 0, 0> mp_x(2.); |
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Motion mp_dense_x(mp_x); |
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BOOST_CHECK(M.act(mp_x).isApprox(M.act(mp_dense_x))); |
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BOOST_CHECK(M.actInv(mp_x).isApprox(M.actInv(mp_dense_x))); |
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BOOST_CHECK(v.cross(mp_x).isApprox(v.cross(mp_dense_x))); |
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MotionPrismaticTpl<double, 0, 1> mp_y(2.); |
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Motion mp_dense_y(mp_y); |
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BOOST_CHECK(M.act(mp_y).isApprox(M.act(mp_dense_y))); |
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BOOST_CHECK(M.actInv(mp_y).isApprox(M.actInv(mp_dense_y))); |
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BOOST_CHECK(v.cross(mp_y).isApprox(v.cross(mp_dense_y))); |
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MotionPrismaticTpl<double, 0, 2> mp_z(2.); |
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Motion mp_dense_z(mp_z); |
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BOOST_CHECK(M.act(mp_z).isApprox(M.act(mp_dense_z))); |
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BOOST_CHECK(M.actInv(mp_z).isApprox(M.actInv(mp_dense_z))); |
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BOOST_CHECK(v.cross(mp_z).isApprox(v.cross(mp_dense_z))); |
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} |
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BOOST_AUTO_TEST_CASE(test_kinematics) |
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{ |
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using namespace pinocchio; |
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Motion expected_v_J(Motion::Zero()); |
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Motion expected_c_J(Motion::Zero()); |
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SE3 expected_configuration(SE3::Identity()); |
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JointDataPX joint_data; |
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JointModelPX joint_model; |
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joint_model.setIndexes(0, 0, 0); |
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Eigen::VectorXd q(Eigen::VectorXd::Zero(1)); |
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Eigen::VectorXd q_dot(Eigen::VectorXd::Zero(1)); |
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// ------- |
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q << 0.; |
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q_dot << 0.; |
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joint_model.calc(joint_data, q, q_dot); |
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BOOST_CHECK(expected_configuration.rotation().isApprox(joint_data.M.rotation(), 1e-12)); |
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BOOST_CHECK(expected_configuration.translation().isApprox(joint_data.M.translation(), 1e-12)); |
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BOOST_CHECK(expected_v_J.toVector().isApprox(((Motion)joint_data.v).toVector(), 1e-12)); |
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BOOST_CHECK(expected_c_J.isApprox((Motion)joint_data.c, 1e-12)); |
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// ------- |
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q << 1.; |
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q_dot << 1.; |
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joint_model.calc(joint_data, q, q_dot); |
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expected_configuration.translation() << 1, 0, 0; |
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expected_v_J.linear() << 1., 0., 0.; |
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BOOST_CHECK(expected_configuration.rotation().isApprox(joint_data.M.rotation(), 1e-12)); |
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BOOST_CHECK(expected_configuration.translation().isApprox(joint_data.M.translation(), 1e-12)); |
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BOOST_CHECK(expected_v_J.toVector().isApprox(((Motion)joint_data.v).toVector(), 1e-12)); |
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BOOST_CHECK(expected_c_J.isApprox((Motion)joint_data.c, 1e-12)); |
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} |
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BOOST_AUTO_TEST_CASE(test_rnea) |
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{ |
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using namespace pinocchio; |
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typedef SE3::Vector3 Vector3; |
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typedef SE3::Matrix3 Matrix3; |
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Model model; |
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Inertia inertia(1., Vector3(0.5, 0., 0.0), Matrix3::Identity()); |
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addJointAndBody( |
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model, JointModelPX(), model.getJointId("universe"), SE3::Identity(), "root", inertia); |
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Data data(model); |
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Eigen::VectorXd q(Eigen::VectorXd::Zero(model.nq)); |
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Eigen::VectorXd v(Eigen::VectorXd::Zero(model.nv)); |
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Eigen::VectorXd a(Eigen::VectorXd::Zero(model.nv)); |
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rnea(model, data, q, v, a); |
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Eigen::VectorXd tau_expected(Eigen::VectorXd::Zero(model.nq)); |
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tau_expected << 0; |
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BOOST_CHECK(tau_expected.isApprox(data.tau, 1e-14)); |
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// ----- |
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q = Eigen::VectorXd::Ones(model.nq); |
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v = Eigen::VectorXd::Ones(model.nv); |
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a = Eigen::VectorXd::Ones(model.nv); |
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rnea(model, data, q, v, a); |
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tau_expected << 1; |
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BOOST_CHECK(tau_expected.isApprox(data.tau, 1e-12)); |
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q << 3; |
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v = Eigen::VectorXd::Ones(model.nv); |
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a = Eigen::VectorXd::Ones(model.nv); |
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rnea(model, data, q, v, a); |
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tau_expected << 1; |
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BOOST_CHECK(tau_expected.isApprox(data.tau, 1e-12)); |
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} |
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BOOST_AUTO_TEST_CASE(test_crba) |
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{ |
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using namespace pinocchio; |
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using namespace std; |
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typedef SE3::Vector3 Vector3; |
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typedef SE3::Matrix3 Matrix3; |
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Model model; |
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Inertia inertia(1., Vector3(0.5, 0., 0.0), Matrix3::Identity()); |
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addJointAndBody( |
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model, JointModelPX(), model.getJointId("universe"), SE3::Identity(), "root", inertia); |
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Data data(model); |
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Eigen::VectorXd q(Eigen::VectorXd::Zero(model.nq)); |
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Eigen::MatrixXd M_expected(model.nv, model.nv); |
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crba(model, data, q, Convention::WORLD); |
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M_expected << 1.0; |
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BOOST_CHECK(M_expected.isApprox(data.M, 1e-14)); |
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q = Eigen::VectorXd::Ones(model.nq); |
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crba(model, data, q, Convention::WORLD); |
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BOOST_CHECK(M_expected.isApprox(data.M, 1e-12)); |
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q << 3; |
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crba(model, data, q, Convention::WORLD); |
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BOOST_CHECK(M_expected.isApprox(data.M, 1e-10)); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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BOOST_AUTO_TEST_SUITE(JointPrismaticUnaligned) |
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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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MotionPrismaticUnaligned mp(MotionPrismaticUnaligned::Vector3(1., 2., 3.), 6.); |
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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(vsPX) |
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{ |
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using namespace pinocchio; |
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typedef SE3::Vector3 Vector3; |
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typedef SE3::Matrix3 Matrix3; |
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Eigen::Vector3d axis; |
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axis << 1.0, 0.0, 0.0; |
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Model modelPX, modelPrismaticUnaligned; |
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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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JointModelPrismaticUnaligned joint_model_PU(axis); |
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addJointAndBody(modelPX, JointModelPX(), 0, pos, "px", inertia); |
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addJointAndBody(modelPrismaticUnaligned, joint_model_PU, 0, pos, "prismatic-unaligned", inertia); |
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Data dataPX(modelPX); |
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Data dataPrismaticUnaligned(modelPrismaticUnaligned); |
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Eigen::VectorXd q = Eigen::VectorXd::Ones(modelPX.nq); |
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Eigen::VectorXd v = Eigen::VectorXd::Ones(modelPX.nv); |
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Eigen::VectorXd tauPX = Eigen::VectorXd::Ones(modelPX.nv); |
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Eigen::VectorXd tauPrismaticUnaligned = Eigen::VectorXd::Ones(modelPrismaticUnaligned.nv); |
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Eigen::VectorXd aPX = Eigen::VectorXd::Ones(modelPX.nv); |
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Eigen::VectorXd aPrismaticUnaligned(aPX); |
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forwardKinematics(modelPX, dataPX, q, v); |
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forwardKinematics(modelPrismaticUnaligned, dataPrismaticUnaligned, q, v); |
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computeAllTerms(modelPX, dataPX, q, v); |
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computeAllTerms(modelPrismaticUnaligned, dataPrismaticUnaligned, q, v); |
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BOOST_CHECK(dataPrismaticUnaligned.oMi[1].isApprox(dataPX.oMi[1])); |
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BOOST_CHECK(dataPrismaticUnaligned.liMi[1].isApprox(dataPX.liMi[1])); |
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BOOST_CHECK(dataPrismaticUnaligned.Ycrb[1].matrix().isApprox(dataPX.Ycrb[1].matrix())); |
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BOOST_CHECK(dataPrismaticUnaligned.f[1].toVector().isApprox(dataPX.f[1].toVector())); |
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BOOST_CHECK(dataPrismaticUnaligned.nle.isApprox(dataPX.nle)); |
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BOOST_CHECK(dataPrismaticUnaligned.com[0].isApprox(dataPX.com[0])); |
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// InverseDynamics == rnea |
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tauPX = rnea(modelPX, dataPX, q, v, aPX); |
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tauPrismaticUnaligned = |
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rnea(modelPrismaticUnaligned, dataPrismaticUnaligned, q, v, aPrismaticUnaligned); |
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BOOST_CHECK(tauPX.isApprox(tauPrismaticUnaligned)); |
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// ForwardDynamics == aba |
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Eigen::VectorXd aAbaPX = aba(modelPX, dataPX, q, v, tauPX, Convention::WORLD); |
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Eigen::VectorXd aAbaPrismaticUnaligned = aba( |
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modelPrismaticUnaligned, dataPrismaticUnaligned, q, v, tauPrismaticUnaligned, |
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Convention::WORLD); |
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BOOST_CHECK(aAbaPX.isApprox(aAbaPrismaticUnaligned)); |
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// crba |
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crba(modelPX, dataPX, q, Convention::WORLD); |
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crba(modelPrismaticUnaligned, dataPrismaticUnaligned, q, Convention::WORLD); |
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BOOST_CHECK(dataPX.M.isApprox(dataPrismaticUnaligned.M)); |
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// Jacobian |
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Eigen::Matrix<double, 6, Eigen::Dynamic> jacobianPX; |
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jacobianPX.resize(6, 1); |
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jacobianPX.setZero(); |
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Eigen::Matrix<double, 6, Eigen::Dynamic> jacobianPrismaticUnaligned; |
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jacobianPrismaticUnaligned.resize(6, 1); |
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jacobianPrismaticUnaligned.setZero(); |
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computeJointJacobians(modelPX, dataPX, q); |
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computeJointJacobians(modelPrismaticUnaligned, dataPrismaticUnaligned, q); |
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getJointJacobian(modelPX, dataPX, 1, LOCAL, jacobianPX); |
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getJointJacobian( |
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modelPrismaticUnaligned, dataPrismaticUnaligned, 1, LOCAL, jacobianPrismaticUnaligned); |
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✗ |
BOOST_CHECK(jacobianPX.isApprox(jacobianPrismaticUnaligned)); |
| 315 |
|
|
} |
| 316 |
|
|
|
| 317 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
| 318 |
|
|
|