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// |
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// Copyright (c) 2015-2021 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(JointRevoluteUnaligned) |
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BOOST_AUTO_TEST_CASE(vsRX) |
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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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Vector3 axis; |
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axis << 1.0, 0.0, 0.0; |
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Model modelRX, modelRevoluteUnaligned; |
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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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JointModelRevoluteUnaligned joint_model_RU(axis); |
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addJointAndBody(modelRX, JointModelRX(), 0, pos, "rx", inertia); |
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addJointAndBody(modelRevoluteUnaligned, joint_model_RU, 0, pos, "revolute-unaligned", inertia); |
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Data dataRX(modelRX); |
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Data dataRevoluteUnaligned(modelRevoluteUnaligned); |
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Eigen::VectorXd q = Eigen::VectorXd::Ones(modelRX.nq); |
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Eigen::VectorXd v = Eigen::VectorXd::Ones(modelRX.nv); |
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Eigen::VectorXd tauRX = Eigen::VectorXd::Ones(modelRX.nv); |
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Eigen::VectorXd tauRevoluteUnaligned = Eigen::VectorXd::Ones(modelRevoluteUnaligned.nv); |
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Eigen::VectorXd aRX = Eigen::VectorXd::Ones(modelRX.nv); |
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Eigen::VectorXd aRevoluteUnaligned(aRX); |
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forwardKinematics(modelRX, dataRX, q, v); |
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forwardKinematics(modelRevoluteUnaligned, dataRevoluteUnaligned, q, v); |
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computeAllTerms(modelRX, dataRX, q, v); |
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computeAllTerms(modelRevoluteUnaligned, dataRevoluteUnaligned, q, v); |
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BOOST_CHECK(dataRevoluteUnaligned.oMi[1].isApprox(dataRX.oMi[1])); |
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BOOST_CHECK(dataRevoluteUnaligned.liMi[1].isApprox(dataRX.liMi[1])); |
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BOOST_CHECK(dataRevoluteUnaligned.Ycrb[1].matrix().isApprox(dataRX.Ycrb[1].matrix())); |
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BOOST_CHECK(dataRevoluteUnaligned.f[1].toVector().isApprox(dataRX.f[1].toVector())); |
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BOOST_CHECK(dataRevoluteUnaligned.nle.isApprox(dataRX.nle)); |
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BOOST_CHECK(dataRevoluteUnaligned.com[0].isApprox(dataRX.com[0])); |
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// InverseDynamics == rnea |
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tauRX = rnea(modelRX, dataRX, q, v, aRX); |
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tauRevoluteUnaligned = |
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rnea(modelRevoluteUnaligned, dataRevoluteUnaligned, q, v, aRevoluteUnaligned); |
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BOOST_CHECK(tauRX.isApprox(tauRevoluteUnaligned)); |
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// ForwardDynamics == aba |
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Eigen::VectorXd aAbaRX = aba(modelRX, dataRX, q, v, tauRX, Convention::WORLD); |
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Eigen::VectorXd aAbaRevoluteUnaligned = aba( |
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modelRevoluteUnaligned, dataRevoluteUnaligned, q, v, tauRevoluteUnaligned, Convention::WORLD); |
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BOOST_CHECK(aAbaRX.isApprox(aAbaRevoluteUnaligned)); |
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// CRBA |
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crba(modelRX, dataRX, q, Convention::WORLD); |
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crba(modelRevoluteUnaligned, dataRevoluteUnaligned, q, Convention::WORLD); |
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BOOST_CHECK(dataRX.M.isApprox(dataRevoluteUnaligned.M)); |
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// Jacobian |
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Eigen::Matrix<double, 6, Eigen::Dynamic> jacobianRX; |
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jacobianRX.resize(6, 1); |
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jacobianRX.setZero(); |
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Eigen::Matrix<double, 6, Eigen::Dynamic> jacobianRevoluteUnaligned; |
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jacobianRevoluteUnaligned.resize(6, 1); |
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jacobianRevoluteUnaligned.setZero(); |
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computeJointJacobians(modelRX, dataRX, q); |
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computeJointJacobians(modelRevoluteUnaligned, dataRevoluteUnaligned, q); |
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getJointJacobian(modelRX, dataRX, 1, LOCAL, jacobianRX); |
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getJointJacobian( |
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modelRevoluteUnaligned, dataRevoluteUnaligned, 1, LOCAL, jacobianRevoluteUnaligned); |
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BOOST_CHECK(jacobianRX.isApprox(jacobianRevoluteUnaligned)); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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BOOST_AUTO_TEST_SUITE(JointRevoluteUnboundedUnaligned) |
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BOOST_AUTO_TEST_CASE(vsRUX) |
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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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Vector3 axis; |
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axis << 1.0, 0.0, 0.0; |
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Model modelRUX, modelRevoluteUboundedUnaligned; |
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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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JointModelRevoluteUnboundedUnaligned joint_model_RUU(axis); |
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typedef traits<JointRevoluteUnboundedUnalignedTpl<double>>::TangentVector_t TangentVector; |
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addJointAndBody(modelRUX, JointModelRUBX(), 0, pos, "rux", inertia); |
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addJointAndBody( |
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modelRevoluteUboundedUnaligned, joint_model_RUU, 0, pos, "revolute-unbounded-unaligned", |
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inertia); |
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Data dataRUX(modelRUX); |
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Data dataRevoluteUnboundedUnaligned(modelRevoluteUboundedUnaligned); |
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Eigen::VectorXd q = Eigen::VectorXd::Ones(modelRUX.nq); |
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q.normalize(); |
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TangentVector v = TangentVector::Ones(modelRUX.nv); |
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Eigen::VectorXd tauRX = Eigen::VectorXd::Ones(modelRUX.nv); |
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Eigen::VectorXd tauRevoluteUnaligned = Eigen::VectorXd::Ones(modelRevoluteUboundedUnaligned.nv); |
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Eigen::VectorXd aRX = Eigen::VectorXd::Ones(modelRUX.nv); |
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Eigen::VectorXd aRevoluteUnaligned(aRX); |
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forwardKinematics(modelRUX, dataRUX, q, v); |
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forwardKinematics(modelRevoluteUboundedUnaligned, dataRevoluteUnboundedUnaligned, q, v); |
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computeAllTerms(modelRUX, dataRUX, q, v); |
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computeAllTerms(modelRevoluteUboundedUnaligned, dataRevoluteUnboundedUnaligned, q, v); |
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BOOST_CHECK(dataRevoluteUnboundedUnaligned.oMi[1].isApprox(dataRUX.oMi[1])); |
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BOOST_CHECK(dataRevoluteUnboundedUnaligned.liMi[1].isApprox(dataRUX.liMi[1])); |
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BOOST_CHECK(dataRevoluteUnboundedUnaligned.Ycrb[1].matrix().isApprox(dataRUX.Ycrb[1].matrix())); |
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BOOST_CHECK(dataRevoluteUnboundedUnaligned.f[1].toVector().isApprox(dataRUX.f[1].toVector())); |
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BOOST_CHECK(dataRevoluteUnboundedUnaligned.nle.isApprox(dataRUX.nle)); |
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BOOST_CHECK(dataRevoluteUnboundedUnaligned.com[0].isApprox(dataRUX.com[0])); |
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// InverseDynamics == rnea |
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tauRX = rnea(modelRUX, dataRUX, q, v, aRX); |
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tauRevoluteUnaligned = |
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rnea(modelRevoluteUboundedUnaligned, dataRevoluteUnboundedUnaligned, q, v, aRevoluteUnaligned); |
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BOOST_CHECK(tauRX.isApprox(tauRevoluteUnaligned)); |
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// ForwardDynamics == aba |
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Eigen::VectorXd aAbaRX = aba(modelRUX, dataRUX, q, v, tauRX, Convention::WORLD); |
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Eigen::VectorXd aAbaRevoluteUnaligned = aba( |
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modelRevoluteUboundedUnaligned, dataRevoluteUnboundedUnaligned, q, v, tauRevoluteUnaligned, |
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Convention::WORLD); |
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BOOST_CHECK(aAbaRX.isApprox(aAbaRevoluteUnaligned)); |
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// CRBA |
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crba(modelRUX, dataRUX, q, Convention::WORLD); |
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crba(modelRevoluteUboundedUnaligned, dataRevoluteUnboundedUnaligned, q, Convention::WORLD); |
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BOOST_CHECK(dataRUX.M.isApprox(dataRevoluteUnboundedUnaligned.M)); |
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// Jacobian |
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Data::Matrix6x jacobianRUX; |
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jacobianRUX.resize(6, 1); |
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jacobianRUX.setZero(); |
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Data::Matrix6x jacobianRevoluteUnboundedUnaligned; |
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jacobianRevoluteUnboundedUnaligned.resize(6, 1); |
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jacobianRevoluteUnboundedUnaligned.setZero(); |
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computeJointJacobians(modelRUX, dataRUX, q); |
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computeJointJacobians(modelRevoluteUboundedUnaligned, dataRevoluteUnboundedUnaligned, q); |
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getJointJacobian(modelRUX, dataRUX, 1, LOCAL, jacobianRUX); |
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getJointJacobian( |
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modelRevoluteUboundedUnaligned, dataRevoluteUnboundedUnaligned, 1, LOCAL, |
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jacobianRevoluteUnboundedUnaligned); |
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BOOST_CHECK(jacobianRUX.isApprox(jacobianRevoluteUnboundedUnaligned)); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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BOOST_AUTO_TEST_SUITE(JointRevoluteUnbounded) |
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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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MotionRevoluteTpl<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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MotionRevoluteTpl<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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MotionRevoluteTpl<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(vsRX) |
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{ |
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typedef SE3::Vector3 Vector3; |
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typedef SE3::Matrix3 Matrix3; |
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Model modelRX, modelRevoluteUnbounded; |
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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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JointModelRUBX joint_model_RUX; |
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addJointAndBody(modelRX, JointModelRX(), 0, SE3::Identity(), "rx", inertia); |
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addJointAndBody( |
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modelRevoluteUnbounded, joint_model_RUX, 0, SE3::Identity(), "revolute unbounded x", inertia); |
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Data dataRX(modelRX); |
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Data dataRevoluteUnbounded(modelRevoluteUnbounded); |
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Eigen::VectorXd q_rx = Eigen::VectorXd::Ones(modelRX.nq); |
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Eigen::VectorXd q_rubx = Eigen::VectorXd::Ones(modelRevoluteUnbounded.nq); |
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double ca, sa; |
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double alpha = q_rx(0); |
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SINCOS(alpha, &sa, &ca); |
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q_rubx(0) = ca; |
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q_rubx(1) = sa; |
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Eigen::VectorXd v_rx = Eigen::VectorXd::Ones(modelRX.nv); |
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Eigen::VectorXd v_rubx = v_rx; |
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Eigen::VectorXd tauRX = Eigen::VectorXd::Ones(modelRX.nv); |
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Eigen::VectorXd tauRevoluteUnbounded = Eigen::VectorXd::Ones(modelRevoluteUnbounded.nv); |
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Eigen::VectorXd aRX = Eigen::VectorXd::Ones(modelRX.nv); |
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Eigen::VectorXd aRevoluteUnbounded = aRX; |
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forwardKinematics(modelRX, dataRX, q_rx, v_rx); |
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forwardKinematics(modelRevoluteUnbounded, dataRevoluteUnbounded, q_rubx, v_rubx); |
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computeAllTerms(modelRX, dataRX, q_rx, v_rx); |
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computeAllTerms(modelRevoluteUnbounded, dataRevoluteUnbounded, q_rubx, v_rubx); |
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BOOST_CHECK(dataRevoluteUnbounded.oMi[1].isApprox(dataRX.oMi[1])); |
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BOOST_CHECK(dataRevoluteUnbounded.liMi[1].isApprox(dataRX.liMi[1])); |
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BOOST_CHECK(dataRevoluteUnbounded.Ycrb[1].matrix().isApprox(dataRX.Ycrb[1].matrix())); |
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BOOST_CHECK(dataRevoluteUnbounded.f[1].toVector().isApprox(dataRX.f[1].toVector())); |
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BOOST_CHECK(dataRevoluteUnbounded.nle.isApprox(dataRX.nle)); |
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BOOST_CHECK(dataRevoluteUnbounded.com[0].isApprox(dataRX.com[0])); |
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// InverseDynamics == rnea |
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tauRX = rnea(modelRX, dataRX, q_rx, v_rx, aRX); |
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tauRevoluteUnbounded = |
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|
✗ |
rnea(modelRevoluteUnbounded, dataRevoluteUnbounded, q_rubx, v_rubx, aRevoluteUnbounded); |
| 291 |
|
|
|
| 292 |
|
✗ |
BOOST_CHECK(tauRX.isApprox(tauRevoluteUnbounded)); |
| 293 |
|
|
|
| 294 |
|
|
// ForwardDynamics == aba |
| 295 |
|
✗ |
Eigen::VectorXd aAbaRX = aba(modelRX, dataRX, q_rx, v_rx, tauRX, Convention::WORLD); |
| 296 |
|
✗ |
Eigen::VectorXd aAbaRevoluteUnbounded = aba( |
| 297 |
|
|
modelRevoluteUnbounded, dataRevoluteUnbounded, q_rubx, v_rubx, tauRevoluteUnbounded, |
| 298 |
|
✗ |
Convention::WORLD); |
| 299 |
|
|
|
| 300 |
|
✗ |
BOOST_CHECK(aAbaRX.isApprox(aAbaRevoluteUnbounded)); |
| 301 |
|
|
|
| 302 |
|
|
// crba |
| 303 |
|
✗ |
crba(modelRX, dataRX, q_rx, Convention::WORLD); |
| 304 |
|
✗ |
crba(modelRevoluteUnbounded, dataRevoluteUnbounded, q_rubx, Convention::WORLD); |
| 305 |
|
|
|
| 306 |
|
✗ |
BOOST_CHECK(dataRX.M.isApprox(dataRevoluteUnbounded.M)); |
| 307 |
|
|
|
| 308 |
|
|
// Jacobian |
| 309 |
|
✗ |
Eigen::Matrix<double, 6, Eigen::Dynamic> jacobianPX; |
| 310 |
|
✗ |
jacobianPX.resize(6, 1); |
| 311 |
|
✗ |
jacobianPX.setZero(); |
| 312 |
|
✗ |
Eigen::Matrix<double, 6, Eigen::Dynamic> jacobianPrismaticUnaligned; |
| 313 |
|
✗ |
jacobianPrismaticUnaligned.resize(6, 1); |
| 314 |
|
✗ |
jacobianPrismaticUnaligned.setZero(); |
| 315 |
|
✗ |
computeJointJacobians(modelRX, dataRX, q_rx); |
| 316 |
|
✗ |
computeJointJacobians(modelRevoluteUnbounded, dataRevoluteUnbounded, q_rubx); |
| 317 |
|
✗ |
getJointJacobian(modelRX, dataRX, 1, LOCAL, jacobianPX); |
| 318 |
|
✗ |
getJointJacobian( |
| 319 |
|
|
modelRevoluteUnbounded, dataRevoluteUnbounded, 1, LOCAL, jacobianPrismaticUnaligned); |
| 320 |
|
|
|
| 321 |
|
✗ |
BOOST_CHECK(jacobianPX.isApprox(jacobianPrismaticUnaligned)); |
| 322 |
|
|
} |
| 323 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
| 324 |
|
|
|
| 325 |
|
|
BOOST_AUTO_TEST_SUITE(JointRevolute) |
| 326 |
|
|
|
| 327 |
|
✗ |
BOOST_AUTO_TEST_CASE(spatial) |
| 328 |
|
|
{ |
| 329 |
|
|
typedef TransformRevoluteTpl<double, 0, 0> TransformX; |
| 330 |
|
|
typedef TransformRevoluteTpl<double, 0, 1> TransformY; |
| 331 |
|
|
typedef TransformRevoluteTpl<double, 0, 2> TransformZ; |
| 332 |
|
|
|
| 333 |
|
|
typedef SE3::Vector3 Vector3; |
| 334 |
|
|
|
| 335 |
|
✗ |
const double alpha = 0.2; |
| 336 |
|
|
double sin_alpha, cos_alpha; |
| 337 |
|
✗ |
SINCOS(alpha, &sin_alpha, &cos_alpha); |
| 338 |
|
✗ |
SE3 Mplain, Mrand(SE3::Random()); |
| 339 |
|
|
|
| 340 |
|
✗ |
TransformX Mx(sin_alpha, cos_alpha); |
| 341 |
|
✗ |
Mplain = Mx; |
| 342 |
|
✗ |
BOOST_CHECK(Mplain.translation().isZero()); |
| 343 |
|
✗ |
BOOST_CHECK( |
| 344 |
|
|
Mplain.rotation().isApprox(Eigen::AngleAxisd(alpha, Vector3::UnitX()).toRotationMatrix())); |
| 345 |
|
✗ |
BOOST_CHECK((Mrand * Mplain).isApprox(Mrand * Mx)); |
| 346 |
|
|
|
| 347 |
|
✗ |
TransformY My(sin_alpha, cos_alpha); |
| 348 |
|
✗ |
Mplain = My; |
| 349 |
|
✗ |
BOOST_CHECK(Mplain.translation().isZero()); |
| 350 |
|
✗ |
BOOST_CHECK( |
| 351 |
|
|
Mplain.rotation().isApprox(Eigen::AngleAxisd(alpha, Vector3::UnitY()).toRotationMatrix())); |
| 352 |
|
✗ |
BOOST_CHECK((Mrand * Mplain).isApprox(Mrand * My)); |
| 353 |
|
|
|
| 354 |
|
✗ |
TransformZ Mz(sin_alpha, cos_alpha); |
| 355 |
|
✗ |
Mplain = Mz; |
| 356 |
|
✗ |
BOOST_CHECK(Mplain.translation().isZero()); |
| 357 |
|
✗ |
BOOST_CHECK( |
| 358 |
|
|
Mplain.rotation().isApprox(Eigen::AngleAxisd(alpha, Vector3::UnitZ()).toRotationMatrix())); |
| 359 |
|
✗ |
BOOST_CHECK((Mrand * Mplain).isApprox(Mrand * Mz)); |
| 360 |
|
|
|
| 361 |
|
✗ |
SE3 M(SE3::Random()); |
| 362 |
|
✗ |
Motion v(Motion::Random()); |
| 363 |
|
|
|
| 364 |
|
✗ |
MotionRevoluteTpl<double, 0, 0> mp_x(2.); |
| 365 |
|
✗ |
Motion mp_dense_x(mp_x); |
| 366 |
|
|
|
| 367 |
|
✗ |
BOOST_CHECK(M.act(mp_x).isApprox(M.act(mp_dense_x))); |
| 368 |
|
✗ |
BOOST_CHECK(M.actInv(mp_x).isApprox(M.actInv(mp_dense_x))); |
| 369 |
|
|
|
| 370 |
|
✗ |
BOOST_CHECK(v.cross(mp_x).isApprox(v.cross(mp_dense_x))); |
| 371 |
|
|
|
| 372 |
|
✗ |
MotionRevoluteTpl<double, 0, 1> mp_y(2.); |
| 373 |
|
✗ |
Motion mp_dense_y(mp_y); |
| 374 |
|
|
|
| 375 |
|
✗ |
BOOST_CHECK(M.act(mp_y).isApprox(M.act(mp_dense_y))); |
| 376 |
|
✗ |
BOOST_CHECK(M.actInv(mp_y).isApprox(M.actInv(mp_dense_y))); |
| 377 |
|
|
|
| 378 |
|
✗ |
BOOST_CHECK(v.cross(mp_y).isApprox(v.cross(mp_dense_y))); |
| 379 |
|
|
|
| 380 |
|
✗ |
MotionRevoluteTpl<double, 0, 2> mp_z(2.); |
| 381 |
|
✗ |
Motion mp_dense_z(mp_z); |
| 382 |
|
|
|
| 383 |
|
✗ |
BOOST_CHECK(M.act(mp_z).isApprox(M.act(mp_dense_z))); |
| 384 |
|
✗ |
BOOST_CHECK(M.actInv(mp_z).isApprox(M.actInv(mp_dense_z))); |
| 385 |
|
|
|
| 386 |
|
✗ |
BOOST_CHECK(v.cross(mp_z).isApprox(v.cross(mp_dense_z))); |
| 387 |
|
|
} |
| 388 |
|
|
|
| 389 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
| 390 |
|
|
|
| 391 |
|
|
BOOST_AUTO_TEST_SUITE(JointRevoluteUnaligned) |
| 392 |
|
|
|
| 393 |
|
✗ |
BOOST_AUTO_TEST_CASE(spatial) |
| 394 |
|
|
{ |
| 395 |
|
✗ |
SE3 M(SE3::Random()); |
| 396 |
|
✗ |
Motion v(Motion::Random()); |
| 397 |
|
|
|
| 398 |
|
✗ |
MotionRevoluteUnaligned mp(MotionRevoluteUnaligned::Vector3(1., 2., 3.), 6.); |
| 399 |
|
✗ |
Motion mp_dense(mp); |
| 400 |
|
|
|
| 401 |
|
✗ |
BOOST_CHECK(M.act(mp).isApprox(M.act(mp_dense))); |
| 402 |
|
✗ |
BOOST_CHECK(M.actInv(mp).isApprox(M.actInv(mp_dense))); |
| 403 |
|
|
|
| 404 |
|
✗ |
BOOST_CHECK(v.cross(mp).isApprox(v.cross(mp_dense))); |
| 405 |
|
|
} |
| 406 |
|
|
|
| 407 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
| 408 |
|
|
|