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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(JointSpherical) |
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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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MotionSpherical mp(MotionSpherical::Vector3(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, 7, 1> VectorFF; |
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typedef SE3::Matrix3 Matrix3; |
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Model modelSpherical, 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(modelSpherical, JointModelSpherical(), 0, pos, "spherical", inertia); |
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addJointAndBody(modelFreeflyer, JointModelFreeFlyer(), 0, pos, "free-flyer", inertia); |
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Data dataSpherical(modelSpherical); |
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Data dataFreeFlyer(modelFreeflyer); |
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Eigen::VectorXd q = Eigen::VectorXd::Ones(modelSpherical.nq); |
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q.normalize(); |
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VectorFF qff; |
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qff << 0, 0, 0, q[0], q[1], q[2], q[3]; |
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Eigen::VectorXd v = Eigen::VectorXd::Ones(modelSpherical.nv); |
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Vector6 vff; |
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vff << 0, 0, 0, 1, 1, 1; |
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Eigen::VectorXd tauSpherical = Eigen::VectorXd::Ones(modelSpherical.nv); |
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Eigen::VectorXd tauff; |
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tauff.resize(7); |
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tauff << 0, 0, 0, 1, 1, 1, 1; |
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Eigen::VectorXd aSpherical = Eigen::VectorXd::Ones(modelSpherical.nv); |
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Eigen::VectorXd aff(vff); |
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forwardKinematics(modelSpherical, dataSpherical, q, v); |
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forwardKinematics(modelFreeflyer, dataFreeFlyer, qff, vff); |
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computeAllTerms(modelSpherical, dataSpherical, q, v); |
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computeAllTerms(modelFreeflyer, dataFreeFlyer, qff, vff); |
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BOOST_CHECK(dataFreeFlyer.oMi[1].isApprox(dataSpherical.oMi[1])); |
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BOOST_CHECK(dataFreeFlyer.liMi[1].isApprox(dataSpherical.liMi[1])); |
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BOOST_CHECK(dataFreeFlyer.Ycrb[1].matrix().isApprox(dataSpherical.Ycrb[1].matrix())); |
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BOOST_CHECK(dataFreeFlyer.f[1].toVector().isApprox(dataSpherical.f[1].toVector())); |
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Eigen::VectorXd nle_expected_ff(3); |
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nle_expected_ff << dataFreeFlyer.nle[3], dataFreeFlyer.nle[4], dataFreeFlyer.nle[5]; |
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BOOST_CHECK(nle_expected_ff.isApprox(dataSpherical.nle)); |
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BOOST_CHECK(dataFreeFlyer.com[0].isApprox(dataSpherical.com[0])); |
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// InverseDynamics == rnea |
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tauSpherical = rnea(modelSpherical, dataSpherical, q, v, aSpherical); |
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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(3), tauff(4), tauff(5); |
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BOOST_CHECK(tauSpherical.isApprox(tau_expected)); |
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// ForwardDynamics == aba |
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Eigen::VectorXd aAbaSpherical = |
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aba(modelSpherical, dataSpherical, q, v, tauSpherical, 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[3], aAbaFreeFlyer[4], aAbaFreeFlyer[5]; |
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BOOST_CHECK(aAbaSpherical.isApprox(a_expected)); |
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// crba |
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crba(modelSpherical, dataSpherical, q, Convention::WORLD); |
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crba(modelFreeflyer, dataFreeFlyer, qff, Convention::WORLD); |
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Eigen::Matrix<double, 3, 3> M_expected(dataFreeFlyer.M.bottomRightCorner<3, 3>()); |
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BOOST_CHECK(dataSpherical.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(modelSpherical, dataSpherical, q); |
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computeJointJacobians(modelFreeflyer, dataFreeFlyer, qff); |
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getJointJacobian(modelSpherical, dataSpherical, 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(3), jacobian_ff.col(4), 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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BOOST_AUTO_TEST_SUITE(JointSphericalZYX) |
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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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MotionSpherical mp(MotionSpherical::Vector3(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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// WARNIG : Dynamic algorithm's results cannot be compared to FreeFlyer's ones because |
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// of the representation of the rotation and the ConstraintSubspace difference. |
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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, 7, 1> VectorFF; |
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typedef SE3::Matrix3 Matrix3; |
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Model modelSphericalZYX, 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(modelSphericalZYX, JointModelSphericalZYX(), 0, pos, "spherical-zyx", inertia); |
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addJointAndBody(modelFreeflyer, JointModelFreeFlyer(), 0, pos, "free-flyer", inertia); |
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Data dataSphericalZYX(modelSphericalZYX); |
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Data dataFreeFlyer(modelFreeflyer); |
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Eigen::AngleAxisd rollAngle(1, Eigen::Vector3d::UnitZ()); |
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Eigen::AngleAxisd yawAngle(1, Eigen::Vector3d::UnitY()); |
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Eigen::AngleAxisd pitchAngle(1, Eigen::Vector3d::UnitX()); |
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Eigen::Quaterniond q_sph = rollAngle * yawAngle * pitchAngle; |
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Eigen::VectorXd q = Eigen::VectorXd::Ones(modelSphericalZYX.nq); |
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VectorFF qff; |
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qff << 0, 0, 0, q_sph.x(), q_sph.y(), q_sph.z(), q_sph.w(); |
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Eigen::VectorXd v = Eigen::VectorXd::Ones(modelSphericalZYX.nv); |
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Vector6 vff; |
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vff << 0, 0, 0, 1, 1, 1; |
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Eigen::VectorXd tauSpherical = Eigen::VectorXd::Ones(modelSphericalZYX.nv); |
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Eigen::VectorXd tauff; |
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tauff.resize(6); |
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tauff << 0, 0, 0, 1, 1, 1; |
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Eigen::VectorXd aSpherical = Eigen::VectorXd::Ones(modelSphericalZYX.nv); |
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Eigen::VectorXd aff(vff); |
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forwardKinematics(modelSphericalZYX, dataSphericalZYX, q, v); |
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forwardKinematics(modelFreeflyer, dataFreeFlyer, qff, vff); |
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computeAllTerms(modelSphericalZYX, dataSphericalZYX, q, v); |
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computeAllTerms(modelFreeflyer, dataFreeFlyer, qff, vff); |
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BOOST_CHECK(dataFreeFlyer.oMi[1].isApprox(dataSphericalZYX.oMi[1])); |
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BOOST_CHECK(dataFreeFlyer.liMi[1].isApprox(dataSphericalZYX.liMi[1])); |
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BOOST_CHECK(dataFreeFlyer.Ycrb[1].matrix().isApprox(dataSphericalZYX.Ycrb[1].matrix())); |
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BOOST_CHECK(dataFreeFlyer.com[0].isApprox(dataSphericalZYX.com[0])); |
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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, JointModelSphericalZYX(), model.getJointId("universe"), SE3::Identity(), "root", |
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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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Vector3 tau_expected(0., -4.905, 0.); |
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BOOST_CHECK(tau_expected.isApprox(data.tau, 1e-14)); |
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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 << -0.53611600195085, -0.74621832606188, -0.38177329067604; |
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BOOST_CHECK(tau_expected.isApprox(data.tau, 1e-12)); |
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q << 3, 2, 1; |
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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 << 0.73934458094049, 2.7804530848031, 0.50684940972146; |
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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, JointModelSphericalZYX(), model.getJointId("universe"), SE3::Identity(), "root", |
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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 << 1.25, 0, 0, 0, 1.25, 0, 0, 0, 1; |
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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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M_expected << 1.0729816454316, -5.5511151231258e-17, -0.8414709848079, -5.5511151231258e-17, 1.25, |
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0, -0.8414709848079, 0, 1; |
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BOOST_CHECK(M_expected.isApprox(data.M, 1e-12)); |
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q << 3, 2, 1; |
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crba(model, data, q, Convention::WORLD); |
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M_expected << 1.043294547392, 2.7755575615629e-17, -0.90929742682568, 0, 1.25, 0, |
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-0.90929742682568, 0, 1; |
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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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