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// |
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// Copyright (c) 2017-2020 CNRS INRIA |
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// |
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#include <iostream> |
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#include "pinocchio/multibody/model.hpp" |
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#include "pinocchio/multibody/data.hpp" |
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#include "pinocchio/algorithm/jacobian.hpp" |
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#include "pinocchio/algorithm/joint-configuration.hpp" |
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#include "pinocchio/algorithm/kinematics.hpp" |
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#include "pinocchio/algorithm/kinematics-derivatives.hpp" |
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#include "pinocchio/multibody/sample-models.hpp" |
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#include <boost/test/unit_test.hpp> |
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#include <boost/utility/binary.hpp> |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_kinematics_derivatives_all) |
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{ |
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using namespace Eigen; |
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using namespace pinocchio; |
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Model model; |
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buildModels::humanoidRandom(model); |
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Data data(model), data_ref(model); |
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model.lowerPositionLimit.head<3>().fill(-1.); |
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model.upperPositionLimit.head<3>().fill(1.); |
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VectorXd q = randomConfiguration(model); |
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VectorXd v(VectorXd::Random(model.nv)); |
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VectorXd a(VectorXd::Random(model.nv)); |
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forwardKinematics(model, data_ref, q, v, a); |
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computeForwardKinematicsDerivatives(model, data, q, v, a); |
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for (size_t i = 1; i < (size_t)model.njoints; ++i) |
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{ |
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BOOST_CHECK(data.oMi[i].isApprox(data_ref.oMi[i])); |
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BOOST_CHECK(data.v[i].isApprox(data_ref.v[i])); |
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BOOST_CHECK(data.ov[i].isApprox(data_ref.oMi[i].act(data_ref.v[i]))); |
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BOOST_CHECK(data.a[i].isApprox(data_ref.a[i])); |
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BOOST_CHECK(data.oa[i].isApprox(data_ref.oMi[i].act(data_ref.a[i]))); |
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} |
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computeJointJacobians(model, data_ref, q); |
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BOOST_CHECK(data.J.isApprox(data_ref.J)); |
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computeJointJacobiansTimeVariation(model, data_ref, q, v); |
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BOOST_CHECK(data.dJ.isApprox(data_ref.dJ)); |
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} |
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BOOST_AUTO_TEST_CASE(test_kinematics_derivatives_velocity) |
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{ |
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using namespace Eigen; |
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using namespace pinocchio; |
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Model model; |
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buildModels::humanoidRandom(model); |
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Data data(model), data_ref(model); |
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model.lowerPositionLimit.head<3>().fill(-1.); |
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model.upperPositionLimit.head<3>().fill(1.); |
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VectorXd q = randomConfiguration(model); |
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VectorXd v(VectorXd::Random(model.nv)); |
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VectorXd a(VectorXd::Random(model.nv)); |
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computeForwardKinematicsDerivatives(model, data, q, v, a); |
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const Model::JointIndex jointId = model.existJointName("rarm2_joint") |
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? model.getJointId("rarm2_joint") |
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: (Model::Index)(model.njoints - 1); |
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Data::Matrix6x partial_dq(6, model.nv); |
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partial_dq.setZero(); |
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Data::Matrix6x partial_dq_local_world_aligned(6, model.nv); |
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partial_dq_local_world_aligned.setZero(); |
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Data::Matrix6x partial_dq_local(6, model.nv); |
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partial_dq_local.setZero(); |
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Data::Matrix6x partial_dv(6, model.nv); |
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partial_dv.setZero(); |
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Data::Matrix6x partial_dv_local_world_aligned(6, model.nv); |
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partial_dv_local_world_aligned.setZero(); |
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Data::Matrix6x partial_dv_local(6, model.nv); |
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partial_dv_local.setZero(); |
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getJointVelocityDerivatives(model, data, jointId, WORLD, partial_dq, partial_dv); |
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getJointVelocityDerivatives( |
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model, data, jointId, LOCAL_WORLD_ALIGNED, partial_dq_local_world_aligned, |
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partial_dv_local_world_aligned); |
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getJointVelocityDerivatives(model, data, jointId, LOCAL, partial_dq_local, partial_dv_local); |
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Data::Matrix6x J_ref(6, model.nv); |
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J_ref.setZero(); |
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Data::Matrix6x J_ref_local_world_aligned(6, model.nv); |
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J_ref_local_world_aligned.setZero(); |
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Data::Matrix6x J_ref_local(6, model.nv); |
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J_ref_local.setZero(); |
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computeJointJacobians(model, data_ref, q); |
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getJointJacobian(model, data_ref, jointId, WORLD, J_ref); |
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getJointJacobian(model, data_ref, jointId, LOCAL_WORLD_ALIGNED, J_ref_local_world_aligned); |
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getJointJacobian(model, data_ref, jointId, LOCAL, J_ref_local); |
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BOOST_CHECK(partial_dv.isApprox(J_ref)); |
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BOOST_CHECK(partial_dv_local_world_aligned.isApprox(J_ref_local_world_aligned)); |
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BOOST_CHECK(partial_dv_local.isApprox(J_ref_local)); |
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// Check against finite differences |
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Data::Matrix6x partial_dq_fd(6, model.nv); |
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partial_dq_fd.setZero(); |
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Data::Matrix6x partial_dq_fd_local_world_aligned(6, model.nv); |
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partial_dq_fd_local_world_aligned.setZero(); |
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Data::Matrix6x partial_dq_fd_local(6, model.nv); |
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partial_dq_fd_local.setZero(); |
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Data::Matrix6x partial_dv_fd(6, model.nv); |
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partial_dv_fd.setZero(); |
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Data::Matrix6x partial_dv_fd_local_world_aligned(6, model.nv); |
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partial_dv_fd_local_world_aligned.setZero(); |
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Data::Matrix6x partial_dv_fd_local(6, model.nv); |
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partial_dv_fd_local.setZero(); |
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const double alpha = 1e-8; |
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// dvel/dv |
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Eigen::VectorXd v_plus(v); |
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Data data_plus(model); |
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forwardKinematics(model, data_ref, q, v); |
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SE3 oMi_rot(SE3::Identity()); |
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oMi_rot.rotation() = data_ref.oMi[jointId].rotation(); |
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Motion v0(data_ref.oMi[jointId].act(data_ref.v[jointId])); |
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Motion v0_local_world_aligned(oMi_rot.act(data_ref.v[jointId])); |
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Motion v0_local(data_ref.v[jointId]); |
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for (int k = 0; k < model.nv; ++k) |
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{ |
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v_plus[k] += alpha; |
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forwardKinematics(model, data_plus, q, v_plus); |
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partial_dv_fd.col(k) = |
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(data_plus.oMi[jointId].act(data_plus.v[jointId]) - v0).toVector() / alpha; |
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partial_dv_fd_local_world_aligned.col(k) = |
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(oMi_rot.act(data_plus.v[jointId]) - v0_local_world_aligned).toVector() / alpha; |
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partial_dv_fd_local.col(k) = (data_plus.v[jointId] - v0_local).toVector() / alpha; |
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v_plus[k] -= alpha; |
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} |
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BOOST_CHECK(partial_dv.isApprox(partial_dv_fd, sqrt(alpha))); |
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BOOST_CHECK( |
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partial_dv_local_world_aligned.isApprox(partial_dv_fd_local_world_aligned, sqrt(alpha))); |
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BOOST_CHECK(partial_dv_local.isApprox(partial_dv_fd_local, sqrt(alpha))); |
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// dvel/dq |
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Eigen::VectorXd q_plus(q), v_eps(Eigen::VectorXd::Zero(model.nv)); |
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forwardKinematics(model, data_ref, q, v); |
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v0 = data_ref.oMi[jointId].act(data_ref.v[jointId]); |
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for (int k = 0; k < model.nv; ++k) |
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{ |
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v_eps[k] += alpha; |
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q_plus = integrate(model, q, v_eps); |
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forwardKinematics(model, data_plus, q_plus, v); |
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SE3 oMi_plus_rot = data_plus.oMi[jointId]; |
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oMi_plus_rot.translation().setZero(); |
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Motion v_plus_local_world_aligned = oMi_plus_rot.act(data_plus.v[jointId]); |
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SE3::Vector3 trans = data_plus.oMi[jointId].translation() - data_ref.oMi[jointId].translation(); |
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v_plus_local_world_aligned.linear() -= v_plus_local_world_aligned.angular().cross(trans); |
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partial_dq_fd.col(k) = |
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(data_plus.oMi[jointId].act(data_plus.v[jointId]) - v0).toVector() / alpha; |
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partial_dq_fd_local_world_aligned.col(k) = |
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(v_plus_local_world_aligned - v0_local_world_aligned).toVector() / alpha; |
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partial_dq_fd_local.col(k) = (data_plus.v[jointId] - v0_local).toVector() / alpha; |
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v_eps[k] -= alpha; |
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} |
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BOOST_CHECK(partial_dq.isApprox(partial_dq_fd, sqrt(alpha))); |
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BOOST_CHECK( |
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partial_dq_local_world_aligned.isApprox(partial_dq_fd_local_world_aligned, sqrt(alpha))); |
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BOOST_CHECK(partial_dq_local.isApprox(partial_dq_fd_local, sqrt(alpha))); |
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} |
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BOOST_AUTO_TEST_CASE(test_kinematics_derivatives_acceleration) |
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{ |
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using namespace Eigen; |
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using namespace pinocchio; |
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Model model; |
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buildModels::humanoidRandom(model); |
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Data data(model), data_ref(model); |
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model.lowerPositionLimit.head<3>().fill(-1.); |
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model.upperPositionLimit.head<3>().fill(1.); |
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VectorXd q = randomConfiguration(model); |
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VectorXd v(VectorXd::Random(model.nv)); |
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VectorXd a(VectorXd::Random(model.nv)); |
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computeForwardKinematicsDerivatives(model, data, q, v, a); |
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const Model::JointIndex jointId = model.existJointName("rarm2_joint") |
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? model.getJointId("rarm2_joint") |
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: (Model::Index)(model.njoints - 1); |
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Data::Matrix6x v_partial_dq(6, model.nv); |
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v_partial_dq.setZero(); |
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Data::Matrix6x v_partial_dq_local(6, model.nv); |
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v_partial_dq_local.setZero(); |
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Data::Matrix6x v_partial_dq_local_world_aligned(6, model.nv); |
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v_partial_dq_local_world_aligned.setZero(); |
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Data::Matrix6x a_partial_dq(6, model.nv); |
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a_partial_dq.setZero(); |
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Data::Matrix6x a_partial_dq_local_world_aligned(6, model.nv); |
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a_partial_dq_local_world_aligned.setZero(); |
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Data::Matrix6x a_partial_dq_local(6, model.nv); |
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a_partial_dq_local.setZero(); |
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Data::Matrix6x a_partial_dv(6, model.nv); |
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a_partial_dv.setZero(); |
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Data::Matrix6x a_partial_dv_local_world_aligned(6, model.nv); |
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a_partial_dv_local_world_aligned.setZero(); |
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Data::Matrix6x a_partial_dv_local(6, model.nv); |
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a_partial_dv_local.setZero(); |
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Data::Matrix6x a_partial_da(6, model.nv); |
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a_partial_da.setZero(); |
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Data::Matrix6x a_partial_da_local_world_aligned(6, model.nv); |
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a_partial_da_local_world_aligned.setZero(); |
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Data::Matrix6x a_partial_da_local(6, model.nv); |
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a_partial_da_local.setZero(); |
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getJointAccelerationDerivatives( |
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model, data, jointId, WORLD, v_partial_dq, a_partial_dq, a_partial_dv, a_partial_da); |
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getJointAccelerationDerivatives( |
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model, data, jointId, LOCAL_WORLD_ALIGNED, v_partial_dq_local_world_aligned, |
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a_partial_dq_local_world_aligned, a_partial_dv_local_world_aligned, |
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a_partial_da_local_world_aligned); |
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getJointAccelerationDerivatives( |
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model, data, jointId, LOCAL, v_partial_dq_local, a_partial_dq_local, a_partial_dv_local, |
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a_partial_da_local); |
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// Check v_partial_dq against getJointVelocityDerivatives |
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{ |
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Data data_v(model); |
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computeForwardKinematicsDerivatives(model, data_v, q, v, a); |
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Data::Matrix6x v_partial_dq_ref(6, model.nv); |
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v_partial_dq_ref.setZero(); |
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Data::Matrix6x v_partial_dq_ref_local_world_aligned(6, model.nv); |
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v_partial_dq_ref_local_world_aligned.setZero(); |
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Data::Matrix6x v_partial_dq_ref_local(6, model.nv); |
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v_partial_dq_ref_local.setZero(); |
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Data::Matrix6x v_partial_dv_ref(6, model.nv); |
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v_partial_dv_ref.setZero(); |
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Data::Matrix6x v_partial_dv_ref_local_world_aligned(6, model.nv); |
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v_partial_dv_ref_local_world_aligned.setZero(); |
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Data::Matrix6x v_partial_dv_ref_local(6, model.nv); |
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v_partial_dv_ref_local.setZero(); |
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getJointVelocityDerivatives(model, data_v, jointId, WORLD, v_partial_dq_ref, v_partial_dv_ref); |
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BOOST_CHECK(v_partial_dq.isApprox(v_partial_dq_ref)); |
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BOOST_CHECK(a_partial_da.isApprox(v_partial_dv_ref)); |
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getJointVelocityDerivatives( |
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model, data_v, jointId, LOCAL_WORLD_ALIGNED, v_partial_dq_ref_local_world_aligned, |
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v_partial_dv_ref_local_world_aligned); |
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BOOST_CHECK(v_partial_dq_local_world_aligned.isApprox(v_partial_dq_ref_local_world_aligned)); |
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BOOST_CHECK(a_partial_da_local_world_aligned.isApprox(v_partial_dv_ref_local_world_aligned)); |
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getJointVelocityDerivatives( |
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model, data_v, jointId, LOCAL, v_partial_dq_ref_local, v_partial_dv_ref_local); |
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BOOST_CHECK(v_partial_dq_local.isApprox(v_partial_dq_ref_local)); |
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BOOST_CHECK(a_partial_da_local.isApprox(v_partial_dv_ref_local)); |
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} |
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Data::Matrix6x J_ref(6, model.nv); |
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J_ref.setZero(); |
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Data::Matrix6x J_ref_local(6, model.nv); |
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|
✗ |
J_ref_local.setZero(); |
| 285 |
|
✗ |
Data::Matrix6x J_ref_local_world_aligned(6, model.nv); |
| 286 |
|
✗ |
J_ref_local_world_aligned.setZero(); |
| 287 |
|
✗ |
computeJointJacobians(model, data_ref, q); |
| 288 |
|
✗ |
getJointJacobian(model, data_ref, jointId, WORLD, J_ref); |
| 289 |
|
✗ |
getJointJacobian(model, data_ref, jointId, LOCAL_WORLD_ALIGNED, J_ref_local_world_aligned); |
| 290 |
|
✗ |
getJointJacobian(model, data_ref, jointId, LOCAL, J_ref_local); |
| 291 |
|
|
|
| 292 |
|
✗ |
BOOST_CHECK(a_partial_da.isApprox(J_ref)); |
| 293 |
|
✗ |
BOOST_CHECK(a_partial_da_local_world_aligned.isApprox(J_ref_local_world_aligned)); |
| 294 |
|
✗ |
BOOST_CHECK(a_partial_da_local.isApprox(J_ref_local)); |
| 295 |
|
|
|
| 296 |
|
|
// Check against finite differences |
| 297 |
|
✗ |
Data::Matrix6x a_partial_da_fd(6, model.nv); |
| 298 |
|
✗ |
a_partial_da_fd.setZero(); |
| 299 |
|
✗ |
Data::Matrix6x a_partial_da_fd_local_world_aligned(6, model.nv); |
| 300 |
|
✗ |
a_partial_da_fd_local_world_aligned.setZero(); |
| 301 |
|
✗ |
Data::Matrix6x a_partial_da_fd_local(6, model.nv); |
| 302 |
|
✗ |
a_partial_da_fd_local.setZero(); |
| 303 |
|
✗ |
const double alpha = 1e-8; |
| 304 |
|
|
|
| 305 |
|
✗ |
Eigen::VectorXd v_plus(v), a_plus(a); |
| 306 |
|
✗ |
Data data_plus(model); |
| 307 |
|
✗ |
forwardKinematics(model, data_ref, q, v, a); |
| 308 |
|
✗ |
SE3 oMi_rot(SE3::Identity()); |
| 309 |
|
✗ |
oMi_rot.rotation() = data_ref.oMi[jointId].rotation(); |
| 310 |
|
|
|
| 311 |
|
|
// dacc/da |
| 312 |
|
✗ |
Motion a0(data_ref.oMi[jointId].act(data_ref.a[jointId])); |
| 313 |
|
✗ |
Motion a0_local_world_aligned(oMi_rot.act(data_ref.a[jointId])); |
| 314 |
|
✗ |
Motion a0_local(data_ref.a[jointId]); |
| 315 |
|
✗ |
for (int k = 0; k < model.nv; ++k) |
| 316 |
|
|
{ |
| 317 |
|
✗ |
a_plus[k] += alpha; |
| 318 |
|
✗ |
forwardKinematics(model, data_plus, q, v, a_plus); |
| 319 |
|
|
|
| 320 |
|
✗ |
a_partial_da_fd.col(k) = |
| 321 |
|
✗ |
(data_plus.oMi[jointId].act(data_plus.a[jointId]) - a0).toVector() / alpha; |
| 322 |
|
✗ |
a_partial_da_fd_local_world_aligned.col(k) = |
| 323 |
|
✗ |
(oMi_rot.act(data_plus.a[jointId]) - a0_local_world_aligned).toVector() / alpha; |
| 324 |
|
✗ |
a_partial_da_fd_local.col(k) = (data_plus.a[jointId] - a0_local).toVector() / alpha; |
| 325 |
|
✗ |
a_plus[k] -= alpha; |
| 326 |
|
|
} |
| 327 |
|
✗ |
BOOST_CHECK(a_partial_da.isApprox(a_partial_da_fd, sqrt(alpha))); |
| 328 |
|
✗ |
BOOST_CHECK( |
| 329 |
|
|
a_partial_da_local_world_aligned.isApprox(a_partial_da_fd_local_world_aligned, sqrt(alpha))); |
| 330 |
|
✗ |
BOOST_CHECK(a_partial_da_local.isApprox(a_partial_da_fd_local, sqrt(alpha))); |
| 331 |
|
✗ |
motionSet::se3Action(data_ref.oMi[jointId].inverse(), a_partial_da, a_partial_da_local); |
| 332 |
|
✗ |
BOOST_CHECK(a_partial_da_local.isApprox(a_partial_da_fd_local, sqrt(alpha))); |
| 333 |
|
|
|
| 334 |
|
|
// dacc/dv |
| 335 |
|
✗ |
Data::Matrix6x a_partial_dv_fd(6, model.nv); |
| 336 |
|
✗ |
a_partial_dv_fd.setZero(); |
| 337 |
|
✗ |
Data::Matrix6x a_partial_dv_fd_local_world_aligned(6, model.nv); |
| 338 |
|
✗ |
a_partial_dv_fd_local_world_aligned.setZero(); |
| 339 |
|
✗ |
Data::Matrix6x a_partial_dv_fd_local(6, model.nv); |
| 340 |
|
✗ |
a_partial_dv_fd_local.setZero(); |
| 341 |
|
✗ |
for (int k = 0; k < model.nv; ++k) |
| 342 |
|
|
{ |
| 343 |
|
✗ |
v_plus[k] += alpha; |
| 344 |
|
✗ |
forwardKinematics(model, data_plus, q, v_plus, a); |
| 345 |
|
|
|
| 346 |
|
✗ |
a_partial_dv_fd.col(k) = |
| 347 |
|
✗ |
(data_plus.oMi[jointId].act(data_plus.a[jointId]) - a0).toVector() / alpha; |
| 348 |
|
✗ |
a_partial_dv_fd_local_world_aligned.col(k) = |
| 349 |
|
✗ |
(oMi_rot.act(data_plus.a[jointId]) - a0_local_world_aligned).toVector() / alpha; |
| 350 |
|
✗ |
a_partial_dv_fd_local.col(k) = (data_plus.a[jointId] - a0_local).toVector() / alpha; |
| 351 |
|
✗ |
v_plus[k] -= alpha; |
| 352 |
|
|
} |
| 353 |
|
|
|
| 354 |
|
✗ |
BOOST_CHECK(a_partial_dv.isApprox(a_partial_dv_fd, sqrt(alpha))); |
| 355 |
|
✗ |
BOOST_CHECK( |
| 356 |
|
|
a_partial_dv_local_world_aligned.isApprox(a_partial_dv_fd_local_world_aligned, sqrt(alpha))); |
| 357 |
|
✗ |
BOOST_CHECK(a_partial_dv_local.isApprox(a_partial_dv_fd_local, sqrt(alpha))); |
| 358 |
|
✗ |
motionSet::se3Action(data_ref.oMi[jointId].inverse(), a_partial_dv, a_partial_dv_local); |
| 359 |
|
✗ |
BOOST_CHECK(a_partial_dv_local.isApprox(a_partial_dv_fd_local, sqrt(alpha))); |
| 360 |
|
|
|
| 361 |
|
|
// dacc/dq |
| 362 |
|
✗ |
a_partial_dq.setZero(); |
| 363 |
|
✗ |
a_partial_dv.setZero(); |
| 364 |
|
✗ |
a_partial_da.setZero(); |
| 365 |
|
|
|
| 366 |
|
✗ |
a_partial_dq_local_world_aligned.setZero(); |
| 367 |
|
✗ |
a_partial_dv_local_world_aligned.setZero(); |
| 368 |
|
✗ |
a_partial_da_local_world_aligned.setZero(); |
| 369 |
|
|
|
| 370 |
|
✗ |
a_partial_dq_local.setZero(); |
| 371 |
|
✗ |
a_partial_dv_local.setZero(); |
| 372 |
|
✗ |
a_partial_da_local.setZero(); |
| 373 |
|
|
|
| 374 |
|
✗ |
Data::Matrix6x a_partial_dq_fd(6, model.nv); |
| 375 |
|
✗ |
a_partial_dq_fd.setZero(); |
| 376 |
|
✗ |
Data::Matrix6x a_partial_dq_fd_local_world_aligned(6, model.nv); |
| 377 |
|
✗ |
a_partial_dq_fd_local_world_aligned.setZero(); |
| 378 |
|
✗ |
Data::Matrix6x a_partial_dq_fd_local(6, model.nv); |
| 379 |
|
✗ |
a_partial_dq_fd_local.setZero(); |
| 380 |
|
|
|
| 381 |
|
✗ |
computeForwardKinematicsDerivatives(model, data, q, v, a); |
| 382 |
|
✗ |
getJointAccelerationDerivatives( |
| 383 |
|
|
model, data, jointId, WORLD, v_partial_dq, a_partial_dq, a_partial_dv, a_partial_da); |
| 384 |
|
|
|
| 385 |
|
✗ |
getJointAccelerationDerivatives( |
| 386 |
|
|
model, data, jointId, LOCAL_WORLD_ALIGNED, v_partial_dq_local_world_aligned, |
| 387 |
|
|
a_partial_dq_local_world_aligned, a_partial_dv_local_world_aligned, |
| 388 |
|
|
a_partial_da_local_world_aligned); |
| 389 |
|
|
|
| 390 |
|
✗ |
getJointAccelerationDerivatives( |
| 391 |
|
|
model, data, jointId, LOCAL, v_partial_dq_local, a_partial_dq_local, a_partial_dv_local, |
| 392 |
|
|
a_partial_da_local); |
| 393 |
|
|
|
| 394 |
|
✗ |
Eigen::VectorXd q_plus(q), v_eps(Eigen::VectorXd::Zero(model.nv)); |
| 395 |
|
✗ |
forwardKinematics(model, data_ref, q, v, a); |
| 396 |
|
✗ |
a0 = data_ref.oMi[jointId].act(data_ref.a[jointId]); |
| 397 |
|
✗ |
oMi_rot.rotation() = data_ref.oMi[jointId].rotation(); |
| 398 |
|
✗ |
a0_local_world_aligned = oMi_rot.act(data_ref.a[jointId]); |
| 399 |
|
✗ |
a0_local = data_ref.a[jointId]; |
| 400 |
|
|
|
| 401 |
|
✗ |
for (int k = 0; k < model.nv; ++k) |
| 402 |
|
|
{ |
| 403 |
|
✗ |
v_eps[k] += alpha; |
| 404 |
|
✗ |
q_plus = integrate(model, q, v_eps); |
| 405 |
|
✗ |
forwardKinematics(model, data_plus, q_plus, v, a); |
| 406 |
|
|
|
| 407 |
|
✗ |
SE3 oMi_plus_rot = data_plus.oMi[jointId]; |
| 408 |
|
✗ |
oMi_plus_rot.translation().setZero(); |
| 409 |
|
|
|
| 410 |
|
✗ |
Motion a_plus_local_world_aligned = oMi_plus_rot.act(data_plus.a[jointId]); |
| 411 |
|
|
const SE3::Vector3 trans = |
| 412 |
|
✗ |
data_plus.oMi[jointId].translation() - data_ref.oMi[jointId].translation(); |
| 413 |
|
✗ |
a_plus_local_world_aligned.linear() -= a_plus_local_world_aligned.angular().cross(trans); |
| 414 |
|
✗ |
a_partial_dq_fd.col(k) = |
| 415 |
|
✗ |
(data_plus.oMi[jointId].act(data_plus.a[jointId]) - a0).toVector() / alpha; |
| 416 |
|
✗ |
a_partial_dq_fd_local_world_aligned.col(k) = |
| 417 |
|
✗ |
(a_plus_local_world_aligned - a0_local_world_aligned).toVector() / alpha; |
| 418 |
|
✗ |
a_partial_dq_fd_local.col(k) = (data_plus.a[jointId] - a0_local).toVector() / alpha; |
| 419 |
|
✗ |
v_eps[k] -= alpha; |
| 420 |
|
|
} |
| 421 |
|
|
|
| 422 |
|
✗ |
BOOST_CHECK(a_partial_dq.isApprox(a_partial_dq_fd, sqrt(alpha))); |
| 423 |
|
✗ |
BOOST_CHECK( |
| 424 |
|
|
a_partial_dq_local_world_aligned.isApprox(a_partial_dq_fd_local_world_aligned, sqrt(alpha))); |
| 425 |
|
✗ |
BOOST_CHECK(a_partial_dq_local.isApprox(a_partial_dq_fd_local, sqrt(alpha))); |
| 426 |
|
|
} |
| 427 |
|
|
|
| 428 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_kinematics_derivatives_against_classic_formula) |
| 429 |
|
|
{ |
| 430 |
|
|
using namespace Eigen; |
| 431 |
|
|
using namespace pinocchio; |
| 432 |
|
|
|
| 433 |
|
✗ |
Model model; |
| 434 |
|
✗ |
buildModels::humanoidRandom(model, true); |
| 435 |
|
|
|
| 436 |
|
✗ |
Data data(model), data_ref(model); |
| 437 |
|
|
|
| 438 |
|
✗ |
model.lowerPositionLimit.head<3>().fill(-1.); |
| 439 |
|
✗ |
model.upperPositionLimit.head<3>().fill(1.); |
| 440 |
|
✗ |
VectorXd q = randomConfiguration(model); |
| 441 |
|
✗ |
VectorXd v(VectorXd::Random(model.nv)); |
| 442 |
|
✗ |
VectorXd a(VectorXd::Random(model.nv)); |
| 443 |
|
|
|
| 444 |
|
✗ |
const Model::JointIndex jointId = model.existJointName("rarm4_joint") |
| 445 |
|
✗ |
? model.getJointId("rarm4_joint") |
| 446 |
|
✗ |
: (Model::Index)(model.njoints - 1); |
| 447 |
|
✗ |
Data::Matrix6x v_partial_dq(6, model.nv); |
| 448 |
|
✗ |
v_partial_dq.setZero(); |
| 449 |
|
✗ |
Data::Matrix6x v_partial_dq_ref(6, model.nv); |
| 450 |
|
✗ |
v_partial_dq_ref.setZero(); |
| 451 |
|
✗ |
Data::Matrix6x v_partial_dv_ref(6, model.nv); |
| 452 |
|
✗ |
v_partial_dv_ref.setZero(); |
| 453 |
|
✗ |
Data::Matrix6x a_partial_dq(6, model.nv); |
| 454 |
|
✗ |
a_partial_dq.setZero(); |
| 455 |
|
✗ |
Data::Matrix6x a_partial_dv(6, model.nv); |
| 456 |
|
✗ |
a_partial_dv.setZero(); |
| 457 |
|
✗ |
Data::Matrix6x a_partial_da(6, model.nv); |
| 458 |
|
✗ |
a_partial_da.setZero(); |
| 459 |
|
|
|
| 460 |
|
|
// LOCAL: da/dv == dJ/dt + dv/dq |
| 461 |
|
|
// { |
| 462 |
|
|
// Data::Matrix6x rhs(6,model.nv); rhs.setZero(); |
| 463 |
|
|
// |
| 464 |
|
|
// v_partial_dq.setZero(); |
| 465 |
|
|
// a_partial_dq.setZero(); |
| 466 |
|
|
// a_partial_dv.setZero(); |
| 467 |
|
|
// a_partial_da.setZero(); |
| 468 |
|
|
// |
| 469 |
|
|
// computeForwardKinematicsDerivatives(model,data_ref,q,v,a); |
| 470 |
|
|
// computeForwardKinematicsDerivatives(model,data,q,v,a); |
| 471 |
|
|
// |
| 472 |
|
|
// getJointAccelerationDerivatives<LOCAL>(model,data,jointId, |
| 473 |
|
|
// v_partial_dq, |
| 474 |
|
|
// a_partial_dq,a_partial_dv,a_partial_da); |
| 475 |
|
|
// |
| 476 |
|
|
// getJointJacobianTimeVariation<LOCAL>(model,data_ref,jointId,rhs); |
| 477 |
|
|
// |
| 478 |
|
|
// v_partial_dq_ref.setZero(); v_partial_dv_ref.setZero(); |
| 479 |
|
|
// getJointVelocityDerivatives<LOCAL>(model,data_ref,jointId, |
| 480 |
|
|
// v_partial_dq_ref,v_partial_dv_ref); |
| 481 |
|
|
// rhs += v_partial_dq_ref; |
| 482 |
|
|
// BOOST_CHECK(a_partial_dv.isApprox(rhs,1e-12)); |
| 483 |
|
|
// |
| 484 |
|
|
// std::cout << "a_partial_dv\n" << a_partial_dv << std::endl; |
| 485 |
|
|
// std::cout << "rhs\n" << rhs << std::endl; |
| 486 |
|
|
// } |
| 487 |
|
|
|
| 488 |
|
|
// WORLD: da/dv == dJ/dt + dv/dq |
| 489 |
|
|
{ |
| 490 |
|
✗ |
Data::Matrix6x rhs(6, model.nv); |
| 491 |
|
✗ |
rhs.setZero(); |
| 492 |
|
|
|
| 493 |
|
✗ |
v_partial_dq.setZero(); |
| 494 |
|
✗ |
a_partial_dq.setZero(); |
| 495 |
|
✗ |
a_partial_dv.setZero(); |
| 496 |
|
✗ |
a_partial_da.setZero(); |
| 497 |
|
|
|
| 498 |
|
✗ |
computeForwardKinematicsDerivatives(model, data_ref, q, v, a); |
| 499 |
|
✗ |
computeForwardKinematicsDerivatives(model, data, q, v, a); |
| 500 |
|
|
|
| 501 |
|
✗ |
getJointAccelerationDerivatives( |
| 502 |
|
|
model, data, jointId, WORLD, v_partial_dq, a_partial_dq, a_partial_dv, a_partial_da); |
| 503 |
|
|
|
| 504 |
|
✗ |
getJointJacobianTimeVariation(model, data_ref, jointId, WORLD, rhs); |
| 505 |
|
|
|
| 506 |
|
✗ |
v_partial_dq_ref.setZero(); |
| 507 |
|
✗ |
v_partial_dv_ref.setZero(); |
| 508 |
|
✗ |
getJointVelocityDerivatives( |
| 509 |
|
|
model, data_ref, jointId, WORLD, v_partial_dq_ref, v_partial_dv_ref); |
| 510 |
|
✗ |
rhs += v_partial_dq_ref; |
| 511 |
|
✗ |
BOOST_CHECK(a_partial_dv.isApprox(rhs, 1e-12)); |
| 512 |
|
|
|
| 513 |
|
|
// std::cout << "a_partial_dv\n" << a_partial_dv << std::endl; |
| 514 |
|
|
// std::cout << "rhs\n" << rhs << std::endl; |
| 515 |
|
|
} |
| 516 |
|
|
|
| 517 |
|
|
// // WORLD: da/dq == d/dt(dv/dq) |
| 518 |
|
|
// { |
| 519 |
|
|
// const double alpha = 1e-8; |
| 520 |
|
|
// Eigen::VectorXd q_plus(model.nq), v_plus(model.nv); |
| 521 |
|
|
// |
| 522 |
|
|
// Data data_plus(model); |
| 523 |
|
|
// v_plus = v + alpha * a; |
| 524 |
|
|
// q_plus = integrate(model,q,alpha*v); |
| 525 |
|
|
// |
| 526 |
|
|
// computeForwardKinematicsDerivatives(model,data_plus,q_plus,v_plus,a); |
| 527 |
|
|
// computeForwardKinematicsDerivatives(model,data_ref,q,v,a); |
| 528 |
|
|
// |
| 529 |
|
|
// Data::Matrix6x v_partial_dq_plus(6,model.nv); v_partial_dq_plus.setZero(); |
| 530 |
|
|
// Data::Matrix6x v_partial_dv_plus(6,model.nv); v_partial_dv_plus.setZero(); |
| 531 |
|
|
// |
| 532 |
|
|
// v_partial_dq_ref.setZero(); v_partial_dv_ref.setZero(); |
| 533 |
|
|
// |
| 534 |
|
|
// v_partial_dq.setZero(); |
| 535 |
|
|
// a_partial_dq.setZero(); |
| 536 |
|
|
// a_partial_dv.setZero(); |
| 537 |
|
|
// a_partial_da.setZero(); |
| 538 |
|
|
// |
| 539 |
|
|
// getJointVelocityDerivatives<WORLD>(model,data_ref,jointId, |
| 540 |
|
|
// v_partial_dq_ref,v_partial_dv_ref); |
| 541 |
|
|
// getJointVelocityDerivatives<WORLD>(model,data_plus,jointId, |
| 542 |
|
|
// v_partial_dq_plus,v_partial_dv_plus); |
| 543 |
|
|
// |
| 544 |
|
|
// getJointAccelerationDerivatives<WORLD>(model,data_ref,jointId, |
| 545 |
|
|
// v_partial_dq, |
| 546 |
|
|
// a_partial_dq,a_partial_dv,a_partial_da); |
| 547 |
|
|
// |
| 548 |
|
|
// Data::Matrix6x a_partial_dq_fd(6,model.nv); a_partial_dq_fd.setZero(); |
| 549 |
|
|
// { |
| 550 |
|
|
// Data data_fd(model); |
| 551 |
|
|
// VectorXd q_fd(model.nq), v_eps(model.nv); v_eps.setZero(); |
| 552 |
|
|
// for(int k = 0; k < model.nv; ++k) |
| 553 |
|
|
// { |
| 554 |
|
|
// v_eps[k] += alpha; |
| 555 |
|
|
// q_fd = integrate(model,q,v_eps); |
| 556 |
|
|
// forwardKinematics(model,data_fd,q_fd,v,a); |
| 557 |
|
|
// a_partial_dq_fd.col(k) = (data_fd.oMi[jointId].act(data_fd.a[jointId]) - |
| 558 |
|
|
// data_ref.oa[jointId]).toVector()/alpha; v_eps[k] = 0.; |
| 559 |
|
|
// } |
| 560 |
|
|
// } |
| 561 |
|
|
// |
| 562 |
|
|
// Data::Matrix6x rhs = (v_partial_dq_plus - v_partial_dq_ref)/alpha; |
| 563 |
|
|
// BOOST_CHECK(a_partial_dq.isApprox(rhs,sqrt(alpha))); |
| 564 |
|
|
// |
| 565 |
|
|
// std::cout << "a_partial_dq\n" << a_partial_dq << std::endl; |
| 566 |
|
|
// std::cout << "a_partial_dq_fd\n" << a_partial_dq_fd << std::endl; |
| 567 |
|
|
// std::cout << "rhs\n" << rhs << std::endl; |
| 568 |
|
|
// } |
| 569 |
|
|
|
| 570 |
|
|
// LOCAL: da/dq == d/dt(dv/dq) |
| 571 |
|
|
{ |
| 572 |
|
✗ |
const double alpha = 1e-8; |
| 573 |
|
✗ |
Eigen::VectorXd q_plus(model.nq), v_plus(model.nv); |
| 574 |
|
|
|
| 575 |
|
✗ |
Data data_plus(model); |
| 576 |
|
✗ |
v_plus = v + alpha * a; |
| 577 |
|
✗ |
q_plus = integrate(model, q, alpha * v); |
| 578 |
|
|
|
| 579 |
|
✗ |
computeForwardKinematicsDerivatives(model, data_plus, q_plus, v_plus, a); |
| 580 |
|
✗ |
computeForwardKinematicsDerivatives(model, data_ref, q, v, a); |
| 581 |
|
|
|
| 582 |
|
✗ |
Data::Matrix6x v_partial_dq_plus(6, model.nv); |
| 583 |
|
✗ |
v_partial_dq_plus.setZero(); |
| 584 |
|
✗ |
Data::Matrix6x v_partial_dv_plus(6, model.nv); |
| 585 |
|
✗ |
v_partial_dv_plus.setZero(); |
| 586 |
|
|
|
| 587 |
|
✗ |
v_partial_dq_ref.setZero(); |
| 588 |
|
✗ |
v_partial_dv_ref.setZero(); |
| 589 |
|
|
|
| 590 |
|
✗ |
v_partial_dq.setZero(); |
| 591 |
|
✗ |
a_partial_dq.setZero(); |
| 592 |
|
✗ |
a_partial_dv.setZero(); |
| 593 |
|
✗ |
a_partial_da.setZero(); |
| 594 |
|
|
|
| 595 |
|
✗ |
getJointVelocityDerivatives( |
| 596 |
|
|
model, data_ref, jointId, LOCAL, v_partial_dq_ref, v_partial_dv_ref); |
| 597 |
|
✗ |
getJointVelocityDerivatives( |
| 598 |
|
|
model, data_plus, jointId, LOCAL, v_partial_dq_plus, v_partial_dv_plus); |
| 599 |
|
|
|
| 600 |
|
✗ |
getJointAccelerationDerivatives( |
| 601 |
|
|
model, data_ref, jointId, LOCAL, v_partial_dq, a_partial_dq, a_partial_dv, a_partial_da); |
| 602 |
|
|
|
| 603 |
|
✗ |
Data::Matrix6x rhs = (v_partial_dq_plus - v_partial_dq_ref) / alpha; |
| 604 |
|
✗ |
BOOST_CHECK(a_partial_dq.isApprox(rhs, sqrt(alpha))); |
| 605 |
|
|
|
| 606 |
|
|
// std::cout << "a_partial_dq\n" << a_partial_dq << std::endl; |
| 607 |
|
|
// std::cout << "rhs\n" << rhs << std::endl; |
| 608 |
|
|
} |
| 609 |
|
|
} |
| 610 |
|
|
|
| 611 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_classic_acceleration_derivatives) |
| 612 |
|
|
{ |
| 613 |
|
|
using namespace Eigen; |
| 614 |
|
|
using namespace pinocchio; |
| 615 |
|
|
|
| 616 |
|
✗ |
Model model; |
| 617 |
|
✗ |
buildModels::humanoidRandom(model, true); |
| 618 |
|
|
|
| 619 |
|
✗ |
Data data(model), data_ref(model), data_plus(model); |
| 620 |
|
|
|
| 621 |
|
✗ |
model.lowerPositionLimit.head<3>().fill(-1.); |
| 622 |
|
✗ |
model.upperPositionLimit.head<3>().fill(1.); |
| 623 |
|
✗ |
VectorXd q = randomConfiguration(model); |
| 624 |
|
✗ |
VectorXd v = VectorXd::Random(model.nv); |
| 625 |
|
✗ |
VectorXd a = VectorXd::Random(model.nv); |
| 626 |
|
|
|
| 627 |
|
✗ |
const Model::JointIndex joint_id = model.existJointName("rarm4_joint") |
| 628 |
|
✗ |
? model.getJointId("rarm4_joint") |
| 629 |
|
✗ |
: (Model::Index)(model.njoints - 1); |
| 630 |
|
✗ |
Data::Matrix3x v3_partial_dq(3, model.nv); |
| 631 |
|
✗ |
v3_partial_dq.setZero(); |
| 632 |
|
✗ |
Data::Matrix3x a3_partial_dq(3, model.nv); |
| 633 |
|
✗ |
a3_partial_dq.setZero(); |
| 634 |
|
✗ |
Data::Matrix3x a3_partial_dv(3, model.nv); |
| 635 |
|
✗ |
a3_partial_dv.setZero(); |
| 636 |
|
✗ |
Data::Matrix3x a3_partial_da(3, model.nv); |
| 637 |
|
✗ |
a3_partial_da.setZero(); |
| 638 |
|
|
|
| 639 |
|
✗ |
Data::Matrix6x v_partial_dq_ref(6, model.nv); |
| 640 |
|
✗ |
v_partial_dq_ref.setZero(); |
| 641 |
|
✗ |
Data::Matrix6x v_partial_dv_ref(6, model.nv); |
| 642 |
|
✗ |
v_partial_dv_ref.setZero(); |
| 643 |
|
✗ |
Data::Matrix6x a_partial_dq_ref(6, model.nv); |
| 644 |
|
✗ |
a_partial_dq_ref.setZero(); |
| 645 |
|
✗ |
Data::Matrix6x a_partial_dv_ref(6, model.nv); |
| 646 |
|
✗ |
a_partial_dv_ref.setZero(); |
| 647 |
|
✗ |
Data::Matrix6x a_partial_da_ref(6, model.nv); |
| 648 |
|
✗ |
a_partial_da_ref.setZero(); |
| 649 |
|
|
|
| 650 |
|
✗ |
computeForwardKinematicsDerivatives(model, data_ref, q, 0 * v, a); |
| 651 |
|
✗ |
computeForwardKinematicsDerivatives(model, data, q, 0 * v, a); |
| 652 |
|
|
|
| 653 |
|
|
// LOCAL |
| 654 |
|
✗ |
getJointAccelerationDerivatives( |
| 655 |
|
|
model, data_ref, joint_id, LOCAL, v_partial_dq_ref, v_partial_dv_ref, a_partial_dq_ref, |
| 656 |
|
|
a_partial_dv_ref, a_partial_da_ref); |
| 657 |
|
|
|
| 658 |
|
✗ |
getPointClassicAccelerationDerivatives( |
| 659 |
|
✗ |
model, data, joint_id, SE3::Identity(), LOCAL, v3_partial_dq, a3_partial_dq, a3_partial_dv, |
| 660 |
|
|
a3_partial_da); |
| 661 |
|
|
|
| 662 |
|
✗ |
BOOST_CHECK(v3_partial_dq.isApprox(v_partial_dq_ref.middleRows<3>(Motion::LINEAR))); |
| 663 |
|
✗ |
BOOST_CHECK(a3_partial_dq.isApprox(a_partial_dq_ref.middleRows<3>(Motion::LINEAR))); |
| 664 |
|
✗ |
BOOST_CHECK(a3_partial_dv.isApprox(a_partial_dv_ref.middleRows<3>(Motion::LINEAR))); |
| 665 |
|
✗ |
BOOST_CHECK(a3_partial_da.isApprox(a_partial_da_ref.middleRows<3>(Motion::LINEAR))); |
| 666 |
|
|
|
| 667 |
|
|
// LOCAL_WORLD_ALIGNED |
| 668 |
|
✗ |
v_partial_dq_ref.setZero(); |
| 669 |
|
✗ |
v_partial_dv_ref.setZero(); |
| 670 |
|
✗ |
a_partial_dq_ref.setZero(); |
| 671 |
|
✗ |
a_partial_dv_ref.setZero(); |
| 672 |
|
✗ |
a_partial_da_ref.setZero(); |
| 673 |
|
✗ |
getJointAccelerationDerivatives( |
| 674 |
|
|
model, data_ref, joint_id, LOCAL_WORLD_ALIGNED, v_partial_dq_ref, v_partial_dv_ref, |
| 675 |
|
|
a_partial_dq_ref, a_partial_dv_ref, a_partial_da_ref); |
| 676 |
|
|
|
| 677 |
|
✗ |
v3_partial_dq.setZero(); |
| 678 |
|
✗ |
a3_partial_dq.setZero(); |
| 679 |
|
✗ |
a3_partial_dv.setZero(); |
| 680 |
|
✗ |
a3_partial_da.setZero(); |
| 681 |
|
✗ |
getPointClassicAccelerationDerivatives( |
| 682 |
|
✗ |
model, data, joint_id, SE3::Identity(), LOCAL_WORLD_ALIGNED, v3_partial_dq, a3_partial_dq, |
| 683 |
|
|
a3_partial_dv, a3_partial_da); |
| 684 |
|
|
|
| 685 |
|
✗ |
BOOST_CHECK(v3_partial_dq.isApprox(v_partial_dq_ref.middleRows<3>(Motion::LINEAR))); |
| 686 |
|
|
// BOOST_CHECK(a3_partial_dq.isApprox(a_partial_dq_ref.middleRows<3>(Motion::LINEAR))); |
| 687 |
|
✗ |
BOOST_CHECK(a3_partial_dv.isApprox(a_partial_dv_ref.middleRows<3>(Motion::LINEAR))); |
| 688 |
|
✗ |
BOOST_CHECK(a3_partial_da.isApprox(a_partial_da_ref.middleRows<3>(Motion::LINEAR))); |
| 689 |
|
|
|
| 690 |
|
|
// std::cout << "a3_partial_dq:\n" << a3_partial_dq << std::endl; |
| 691 |
|
|
// std::cout << "a3_partial_dq_ref:\n" << a_partial_dq_ref.middleRows<3>(Motion::LINEAR) << |
| 692 |
|
|
// std::endl; |
| 693 |
|
|
|
| 694 |
|
✗ |
const SE3 iMpoint = SE3::Random(); |
| 695 |
|
✗ |
computeForwardKinematicsDerivatives(model, data, q, v, a); |
| 696 |
|
|
|
| 697 |
|
✗ |
v3_partial_dq.setZero(); |
| 698 |
|
✗ |
a3_partial_dq.setZero(); |
| 699 |
|
✗ |
a3_partial_dv.setZero(); |
| 700 |
|
✗ |
a3_partial_da.setZero(); |
| 701 |
|
✗ |
getPointClassicAccelerationDerivatives( |
| 702 |
|
|
model, data, joint_id, iMpoint, LOCAL, v3_partial_dq, a3_partial_dq, a3_partial_dv, |
| 703 |
|
|
a3_partial_da); |
| 704 |
|
|
|
| 705 |
|
✗ |
Data::Matrix3x v3_partial_dq_LWA(3, model.nv); |
| 706 |
|
✗ |
v3_partial_dq_LWA.setZero(); |
| 707 |
|
✗ |
Data::Matrix3x a3_partial_dq_LWA(3, model.nv); |
| 708 |
|
✗ |
a3_partial_dq_LWA.setZero(); |
| 709 |
|
✗ |
Data::Matrix3x a3_partial_LWA_dv(3, model.nv); |
| 710 |
|
✗ |
a3_partial_LWA_dv.setZero(); |
| 711 |
|
✗ |
Data::Matrix3x a3_partial_LWA_da(3, model.nv); |
| 712 |
|
✗ |
a3_partial_LWA_da.setZero(); |
| 713 |
|
|
|
| 714 |
|
✗ |
getPointClassicAccelerationDerivatives( |
| 715 |
|
|
model, data, joint_id, iMpoint, LOCAL_WORLD_ALIGNED, v3_partial_dq_LWA, a3_partial_dq_LWA, |
| 716 |
|
|
a3_partial_LWA_dv, a3_partial_LWA_da); |
| 717 |
|
|
|
| 718 |
|
✗ |
const double eps = 1e-8; |
| 719 |
|
✗ |
Eigen::VectorXd v_plus = Eigen::VectorXd::Zero(model.nv); |
| 720 |
|
|
|
| 721 |
|
✗ |
Data::Matrix3x v3_partial_dq_fd(3, model.nv); |
| 722 |
|
✗ |
Data::Matrix3x v3_partial_dv_fd(3, model.nv); |
| 723 |
|
✗ |
Data::Matrix3x a3_partial_dq_fd(3, model.nv); |
| 724 |
|
✗ |
Data::Matrix3x a3_partial_dv_fd(3, model.nv); |
| 725 |
|
✗ |
Data::Matrix3x a3_partial_da_fd(3, model.nv); |
| 726 |
|
|
|
| 727 |
|
✗ |
Data::Matrix3x v3_partial_dq_LWA_fd(3, model.nv); |
| 728 |
|
✗ |
Data::Matrix3x v3_partial_dv_LWA_fd(3, model.nv); |
| 729 |
|
✗ |
Data::Matrix3x a3_partial_dq_LWA_fd(3, model.nv); |
| 730 |
|
✗ |
Data::Matrix3x a3_partial_dv_LWA_fd(3, model.nv); |
| 731 |
|
✗ |
Data::Matrix3x a3_partial_da_LWA_fd(3, model.nv); |
| 732 |
|
|
|
| 733 |
|
✗ |
const SE3 oMpoint = data.oMi[joint_id] * iMpoint; |
| 734 |
|
✗ |
const Motion::Vector3 point_vec_L = iMpoint.actInv(data.v[joint_id]).linear(); // LOCAL |
| 735 |
|
|
const Motion::Vector3 point_acc_L = |
| 736 |
|
✗ |
classicAcceleration(data.v[joint_id], data.a[joint_id], iMpoint); // LOCAL |
| 737 |
|
✗ |
const Motion::Vector3 point_vec_LWA = oMpoint.rotation() * point_vec_L; // LOCAL_WORLD_ALIGNED |
| 738 |
|
✗ |
const Motion::Vector3 point_acc_LWA = oMpoint.rotation() * point_acc_L; // LOCAL_WORLD_ALIGNED |
| 739 |
|
|
|
| 740 |
|
|
// Derivatives w.r.t q |
| 741 |
|
✗ |
for (Eigen::DenseIndex k = 0; k < model.nv; ++k) |
| 742 |
|
|
{ |
| 743 |
|
✗ |
v_plus[k] = eps; |
| 744 |
|
✗ |
const VectorXd q_plus = integrate(model, q, v_plus); |
| 745 |
|
✗ |
forwardKinematics(model, data_plus, q_plus, v, a); |
| 746 |
|
|
|
| 747 |
|
✗ |
const SE3 oMpoint_plus = data_plus.oMi[joint_id] * iMpoint; |
| 748 |
|
✗ |
const Motion::Vector3 point_vec_L_plus = iMpoint.actInv(data_plus.v[joint_id]).linear(); |
| 749 |
|
|
const Motion::Vector3 point_acc_L_plus = |
| 750 |
|
✗ |
classicAcceleration(data_plus.v[joint_id], data_plus.a[joint_id], iMpoint); |
| 751 |
|
|
|
| 752 |
|
✗ |
const Motion::Vector3 point_vec_LWA_plus = oMpoint_plus.rotation() * point_vec_L_plus; |
| 753 |
|
✗ |
const Motion::Vector3 point_acc_LWA_plus = oMpoint_plus.rotation() * point_acc_L_plus; |
| 754 |
|
|
|
| 755 |
|
✗ |
v3_partial_dq_fd.col(k) = (point_vec_L_plus - point_vec_L) / eps; |
| 756 |
|
✗ |
a3_partial_dq_fd.col(k) = (point_acc_L_plus - point_acc_L) / eps; |
| 757 |
|
|
|
| 758 |
|
✗ |
v3_partial_dq_LWA_fd.col(k) = (point_vec_LWA_plus - point_vec_LWA) / eps; |
| 759 |
|
✗ |
a3_partial_dq_LWA_fd.col(k) = (point_acc_LWA_plus - point_acc_LWA) / eps; |
| 760 |
|
|
|
| 761 |
|
✗ |
v_plus[k] = 0.; |
| 762 |
|
|
} |
| 763 |
|
|
|
| 764 |
|
✗ |
BOOST_CHECK(v3_partial_dq_fd.isApprox(v3_partial_dq, sqrt(eps))); |
| 765 |
|
✗ |
BOOST_CHECK(a3_partial_dq_fd.isApprox(a3_partial_dq, sqrt(eps))); |
| 766 |
|
|
|
| 767 |
|
✗ |
BOOST_CHECK(v3_partial_dq_LWA_fd.isApprox(v3_partial_dq_LWA, sqrt(eps))); |
| 768 |
|
✗ |
BOOST_CHECK(a3_partial_dq_LWA_fd.isApprox(a3_partial_dq_LWA, sqrt(eps))); |
| 769 |
|
|
|
| 770 |
|
|
// Derivatives w.r.t v |
| 771 |
|
✗ |
for (Eigen::DenseIndex k = 0; k < model.nv; ++k) |
| 772 |
|
|
{ |
| 773 |
|
✗ |
v_plus = v; |
| 774 |
|
✗ |
v_plus[k] += eps; |
| 775 |
|
✗ |
forwardKinematics(model, data_plus, q, v_plus, a); |
| 776 |
|
|
|
| 777 |
|
✗ |
const SE3 oMpoint_plus = data_plus.oMi[joint_id] * iMpoint; |
| 778 |
|
✗ |
const Motion::Vector3 point_vec_L_plus = iMpoint.actInv(data_plus.v[joint_id]).linear(); |
| 779 |
|
|
const Motion::Vector3 point_acc_L_plus = |
| 780 |
|
✗ |
classicAcceleration(data_plus.v[joint_id], data_plus.a[joint_id], iMpoint); |
| 781 |
|
|
|
| 782 |
|
✗ |
const Motion::Vector3 point_vec_LWA_plus = oMpoint_plus.rotation() * point_vec_L_plus; |
| 783 |
|
✗ |
const Motion::Vector3 point_acc_LWA_plus = oMpoint_plus.rotation() * point_acc_L_plus; |
| 784 |
|
|
|
| 785 |
|
✗ |
v3_partial_dv_fd.col(k) = (point_vec_L_plus - point_vec_L) / eps; |
| 786 |
|
✗ |
a3_partial_dv_fd.col(k) = (point_acc_L_plus - point_acc_L) / eps; |
| 787 |
|
|
|
| 788 |
|
✗ |
v3_partial_dv_LWA_fd.col(k) = (point_vec_LWA_plus - point_vec_LWA) / eps; |
| 789 |
|
✗ |
a3_partial_dv_LWA_fd.col(k) = (point_acc_LWA_plus - point_acc_LWA) / eps; |
| 790 |
|
|
} |
| 791 |
|
|
|
| 792 |
|
✗ |
BOOST_CHECK(v3_partial_dv_fd.isApprox(a3_partial_da, sqrt(eps))); |
| 793 |
|
✗ |
BOOST_CHECK(a3_partial_dv_fd.isApprox(a3_partial_dv, sqrt(eps))); |
| 794 |
|
|
|
| 795 |
|
|
// Derivatives w.r.t v |
| 796 |
|
✗ |
Eigen::VectorXd a_plus = Eigen::VectorXd::Zero(model.nv); |
| 797 |
|
✗ |
for (Eigen::DenseIndex k = 0; k < model.nv; ++k) |
| 798 |
|
|
{ |
| 799 |
|
✗ |
a_plus = a; |
| 800 |
|
✗ |
a_plus[k] += eps; |
| 801 |
|
✗ |
forwardKinematics(model, data_plus, q, v, a_plus); |
| 802 |
|
|
|
| 803 |
|
✗ |
const SE3 oMpoint_plus = data_plus.oMi[joint_id] * iMpoint; |
| 804 |
|
|
const Motion::Vector3 point_acc_L_plus = |
| 805 |
|
✗ |
classicAcceleration(data_plus.v[joint_id], data_plus.a[joint_id], iMpoint); |
| 806 |
|
|
|
| 807 |
|
✗ |
const Motion::Vector3 point_acc_LWA_plus = oMpoint_plus.rotation() * point_acc_L_plus; |
| 808 |
|
|
|
| 809 |
|
✗ |
a3_partial_da_fd.col(k) = (point_acc_L_plus - point_acc_L) / eps; |
| 810 |
|
✗ |
a3_partial_da_LWA_fd.col(k) = (point_acc_LWA_plus - point_acc_LWA) / eps; |
| 811 |
|
|
} |
| 812 |
|
|
|
| 813 |
|
✗ |
BOOST_CHECK(a3_partial_da_fd.isApprox(a3_partial_da, sqrt(eps))); |
| 814 |
|
|
|
| 815 |
|
|
// Test other signature |
| 816 |
|
✗ |
Data data_other(model); |
| 817 |
|
✗ |
Data::Matrix3x v3_partial_dq_other(3, model.nv); |
| 818 |
|
✗ |
v3_partial_dq_other.setZero(); |
| 819 |
|
✗ |
Data::Matrix3x v3_partial_dv_other(3, model.nv); |
| 820 |
|
✗ |
v3_partial_dv_other.setZero(); |
| 821 |
|
✗ |
Data::Matrix3x a3_partial_dq_other(3, model.nv); |
| 822 |
|
✗ |
a3_partial_dq_other.setZero(); |
| 823 |
|
✗ |
Data::Matrix3x a3_partial_dv_other(3, model.nv); |
| 824 |
|
✗ |
a3_partial_dv_other.setZero(); |
| 825 |
|
✗ |
Data::Matrix3x a3_partial_da_other(3, model.nv); |
| 826 |
|
✗ |
a3_partial_da_other.setZero(); |
| 827 |
|
|
|
| 828 |
|
✗ |
computeForwardKinematicsDerivatives(model, data_other, q, v, a); |
| 829 |
|
✗ |
getPointClassicAccelerationDerivatives( |
| 830 |
|
|
model, data_other, joint_id, iMpoint, LOCAL, v3_partial_dq_other, v3_partial_dv_other, |
| 831 |
|
|
a3_partial_dq_other, a3_partial_dv_other, a3_partial_da_other); |
| 832 |
|
|
|
| 833 |
|
✗ |
BOOST_CHECK(v3_partial_dq_other.isApprox(v3_partial_dq)); |
| 834 |
|
✗ |
BOOST_CHECK(v3_partial_dv_other.isApprox(a3_partial_da)); |
| 835 |
|
✗ |
BOOST_CHECK(a3_partial_dq_other.isApprox(a3_partial_dq)); |
| 836 |
|
✗ |
BOOST_CHECK(a3_partial_dv_other.isApprox(a3_partial_dv)); |
| 837 |
|
✗ |
BOOST_CHECK(a3_partial_da_other.isApprox(a3_partial_da)); |
| 838 |
|
|
} |
| 839 |
|
|
|
| 840 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_classic_velocity_derivatives) |
| 841 |
|
|
{ |
| 842 |
|
|
using namespace Eigen; |
| 843 |
|
|
using namespace pinocchio; |
| 844 |
|
|
|
| 845 |
|
✗ |
Model model; |
| 846 |
|
✗ |
buildModels::humanoidRandom(model, true); |
| 847 |
|
|
|
| 848 |
|
✗ |
Data data(model), data_ref(model); |
| 849 |
|
|
|
| 850 |
|
✗ |
model.lowerPositionLimit.head<3>().fill(-1.); |
| 851 |
|
✗ |
model.upperPositionLimit.head<3>().fill(1.); |
| 852 |
|
✗ |
VectorXd q = randomConfiguration(model); |
| 853 |
|
✗ |
VectorXd v = VectorXd::Random(model.nv); |
| 854 |
|
✗ |
VectorXd a = VectorXd::Random(model.nv); |
| 855 |
|
|
|
| 856 |
|
✗ |
const SE3 iMpoint = SE3::Random(); |
| 857 |
|
✗ |
const Model::JointIndex joint_id = model.existJointName("rarm4_joint") |
| 858 |
|
✗ |
? model.getJointId("rarm4_joint") |
| 859 |
|
✗ |
: (Model::Index)(model.njoints - 1); |
| 860 |
|
✗ |
Data::Matrix3x v3_partial_dq_L(3, model.nv); |
| 861 |
|
✗ |
v3_partial_dq_L.setZero(); |
| 862 |
|
✗ |
Data::Matrix3x v3_partial_dv_L(3, model.nv); |
| 863 |
|
✗ |
v3_partial_dv_L.setZero(); |
| 864 |
|
|
|
| 865 |
|
✗ |
computeForwardKinematicsDerivatives(model, data, q, v, 0 * a); |
| 866 |
|
✗ |
getPointVelocityDerivatives( |
| 867 |
|
|
model, data, joint_id, iMpoint, LOCAL, v3_partial_dq_L, v3_partial_dv_L); |
| 868 |
|
|
|
| 869 |
|
✗ |
Data::Matrix3x v_partial_dq_ref_L(3, model.nv); |
| 870 |
|
✗ |
v_partial_dq_ref_L.setZero(); |
| 871 |
|
✗ |
Data::Matrix3x v_partial_dv_ref_L(3, model.nv); |
| 872 |
|
✗ |
v_partial_dv_ref_L.setZero(); |
| 873 |
|
✗ |
Data::Matrix3x a_partial_dq_ref_L(3, model.nv); |
| 874 |
|
✗ |
a_partial_dq_ref_L.setZero(); |
| 875 |
|
✗ |
Data::Matrix3x a_partial_dv_ref_L(3, model.nv); |
| 876 |
|
✗ |
a_partial_dv_ref_L.setZero(); |
| 877 |
|
✗ |
Data::Matrix3x a_partial_da_ref_L(3, model.nv); |
| 878 |
|
✗ |
a_partial_da_ref_L.setZero(); |
| 879 |
|
|
|
| 880 |
|
✗ |
computeForwardKinematicsDerivatives(model, data_ref, q, v, a); |
| 881 |
|
✗ |
getPointClassicAccelerationDerivatives( |
| 882 |
|
|
model, data_ref, joint_id, iMpoint, LOCAL, v_partial_dq_ref_L, v_partial_dv_ref_L, |
| 883 |
|
|
a_partial_dq_ref_L, a_partial_dv_ref_L, a_partial_da_ref_L); |
| 884 |
|
|
|
| 885 |
|
✗ |
BOOST_CHECK(v3_partial_dq_L.isApprox(v_partial_dq_ref_L)); |
| 886 |
|
✗ |
BOOST_CHECK(v3_partial_dv_L.isApprox(v_partial_dv_ref_L)); |
| 887 |
|
|
|
| 888 |
|
|
// LOCAL_WORLD_ALIGNED |
| 889 |
|
✗ |
Data::Matrix3x v3_partial_dq_LWA(3, model.nv); |
| 890 |
|
✗ |
v3_partial_dq_LWA.setZero(); |
| 891 |
|
✗ |
Data::Matrix3x v3_partial_dv_LWA(3, model.nv); |
| 892 |
|
✗ |
v3_partial_dv_LWA.setZero(); |
| 893 |
|
|
|
| 894 |
|
✗ |
getPointVelocityDerivatives( |
| 895 |
|
|
model, data, joint_id, iMpoint, LOCAL_WORLD_ALIGNED, v3_partial_dq_LWA, v3_partial_dv_LWA); |
| 896 |
|
|
|
| 897 |
|
✗ |
Data::Matrix3x v_partial_dq_ref_LWA(3, model.nv); |
| 898 |
|
✗ |
v_partial_dq_ref_LWA.setZero(); |
| 899 |
|
✗ |
Data::Matrix3x v_partial_dv_ref_LWA(3, model.nv); |
| 900 |
|
✗ |
v_partial_dv_ref_LWA.setZero(); |
| 901 |
|
✗ |
Data::Matrix3x a_partial_dq_ref_LWA(3, model.nv); |
| 902 |
|
✗ |
a_partial_dq_ref_LWA.setZero(); |
| 903 |
|
✗ |
Data::Matrix3x a_partial_dv_ref_LWA(3, model.nv); |
| 904 |
|
✗ |
a_partial_dv_ref_LWA.setZero(); |
| 905 |
|
✗ |
Data::Matrix3x a_partial_da_ref_LWA(3, model.nv); |
| 906 |
|
✗ |
a_partial_da_ref_LWA.setZero(); |
| 907 |
|
|
|
| 908 |
|
✗ |
getPointClassicAccelerationDerivatives( |
| 909 |
|
|
model, data_ref, joint_id, iMpoint, LOCAL_WORLD_ALIGNED, v_partial_dq_ref_LWA, |
| 910 |
|
|
v_partial_dv_ref_LWA, a_partial_dq_ref_LWA, a_partial_dv_ref_LWA, a_partial_da_ref_LWA); |
| 911 |
|
|
|
| 912 |
|
✗ |
BOOST_CHECK(v3_partial_dq_LWA.isApprox(v_partial_dq_ref_LWA)); |
| 913 |
|
✗ |
BOOST_CHECK(v3_partial_dv_LWA.isApprox(v_partial_dv_ref_LWA)); |
| 914 |
|
|
} |
| 915 |
|
|
|
| 916 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_kinematics_hessians) |
| 917 |
|
|
{ |
| 918 |
|
|
using namespace Eigen; |
| 919 |
|
|
using namespace pinocchio; |
| 920 |
|
|
|
| 921 |
|
✗ |
Model model; |
| 922 |
|
✗ |
buildModels::humanoidRandom(model, true); |
| 923 |
|
|
|
| 924 |
|
✗ |
Data data(model), data_ref(model), data_plus(model); |
| 925 |
|
|
|
| 926 |
|
✗ |
model.lowerPositionLimit.head<3>().fill(-1.); |
| 927 |
|
✗ |
model.upperPositionLimit.head<3>().fill(1.); |
| 928 |
|
✗ |
VectorXd q = randomConfiguration(model); |
| 929 |
|
|
|
| 930 |
|
✗ |
const Model::JointIndex joint_id = model.existJointName("rarm2_joint") |
| 931 |
|
✗ |
? model.getJointId("rarm2_joint") |
| 932 |
|
✗ |
: (Model::Index)(model.njoints - 1); |
| 933 |
|
|
|
| 934 |
|
✗ |
computeJointJacobians(model, data, q); |
| 935 |
|
✗ |
computeJointKinematicHessians(model, data); |
| 936 |
|
|
|
| 937 |
|
✗ |
Data data2(model); |
| 938 |
|
✗ |
computeJointKinematicHessians(model, data2, q); |
| 939 |
|
✗ |
BOOST_CHECK(data2.J.isApprox(data.J)); |
| 940 |
|
|
|
| 941 |
|
✗ |
const Eigen::DenseIndex matrix_offset = 6 * model.nv; |
| 942 |
|
|
|
| 943 |
|
✗ |
for (int k = 0; k < model.nv; ++k) |
| 944 |
|
|
{ |
| 945 |
|
✗ |
Eigen::Map<Data::Matrix6x> dJ(data.kinematic_hessians.data() + k * matrix_offset, 6, model.nv); |
| 946 |
|
|
Eigen::Map<Data::Matrix6x> dJ2( |
| 947 |
|
✗ |
data2.kinematic_hessians.data() + k * matrix_offset, 6, model.nv); |
| 948 |
|
|
|
| 949 |
|
✗ |
BOOST_CHECK(dJ2.isApprox(dJ)); |
| 950 |
|
|
} |
| 951 |
|
|
|
| 952 |
|
✗ |
for (int i = 0; i < model.nv; ++i) |
| 953 |
|
|
{ |
| 954 |
|
✗ |
for (int j = i; j < model.nv; ++j) |
| 955 |
|
|
{ |
| 956 |
|
✗ |
bool j_is_children_of_i = false; |
| 957 |
|
✗ |
for (int parent = j; parent >= 0; parent = data.parents_fromRow[(size_t)parent]) |
| 958 |
|
|
{ |
| 959 |
|
✗ |
if (parent == i) |
| 960 |
|
|
{ |
| 961 |
|
✗ |
j_is_children_of_i = true; |
| 962 |
|
✗ |
break; |
| 963 |
|
|
} |
| 964 |
|
|
} |
| 965 |
|
|
|
| 966 |
|
✗ |
if (j_is_children_of_i) |
| 967 |
|
|
{ |
| 968 |
|
✗ |
if (i == j) |
| 969 |
|
|
{ |
| 970 |
|
|
Eigen::Map<Data::Motion::Vector6> SixSi( |
| 971 |
|
✗ |
data.kinematic_hessians.data() + i * matrix_offset + i * 6); |
| 972 |
|
✗ |
BOOST_CHECK(SixSi.isZero()); |
| 973 |
|
|
} |
| 974 |
|
|
else |
| 975 |
|
|
{ |
| 976 |
|
|
Eigen::Map<Data::Motion::Vector6> SixSj( |
| 977 |
|
✗ |
data.kinematic_hessians.data() + i * matrix_offset + j * 6); |
| 978 |
|
|
|
| 979 |
|
|
Eigen::Map<Data::Motion::Vector6> SjxSi( |
| 980 |
|
✗ |
data.kinematic_hessians.data() + j * matrix_offset + i * 6); |
| 981 |
|
|
|
| 982 |
|
✗ |
BOOST_CHECK(SixSj.isApprox(-SjxSi)); |
| 983 |
|
|
} |
| 984 |
|
|
} |
| 985 |
|
|
else |
| 986 |
|
|
{ |
| 987 |
|
|
Eigen::Map<Data::Motion::Vector6> SixSj( |
| 988 |
|
✗ |
data.kinematic_hessians.data() + i * matrix_offset + j * 6); |
| 989 |
|
|
|
| 990 |
|
|
Eigen::Map<Data::Motion::Vector6> SjxSi( |
| 991 |
|
✗ |
data.kinematic_hessians.data() + j * matrix_offset + i * 6); |
| 992 |
|
|
|
| 993 |
|
✗ |
BOOST_CHECK(SixSj.isZero()); |
| 994 |
|
✗ |
BOOST_CHECK(SjxSi.isZero()); |
| 995 |
|
|
} |
| 996 |
|
|
} |
| 997 |
|
|
} |
| 998 |
|
|
|
| 999 |
|
✗ |
const double eps = 1e-8; |
| 1000 |
|
✗ |
Data::Matrix6x J_ref(6, model.nv), J_plus(6, model.nv); |
| 1001 |
|
✗ |
J_ref.setZero(); |
| 1002 |
|
✗ |
J_plus.setZero(); |
| 1003 |
|
|
|
| 1004 |
|
✗ |
computeJointJacobians(model, data_ref, q); |
| 1005 |
|
✗ |
VectorXd v_plus(VectorXd::Zero(model.nv)); |
| 1006 |
|
|
|
| 1007 |
|
✗ |
const Eigen::DenseIndex outer_offset = model.nv * 6; |
| 1008 |
|
|
|
| 1009 |
|
|
// WORLD |
| 1010 |
|
✗ |
getJointJacobian(model, data_ref, joint_id, WORLD, J_ref); |
| 1011 |
|
✗ |
Data::Tensor3x kinematic_hessian_world = getJointKinematicHessian(model, data, joint_id, WORLD); |
| 1012 |
|
✗ |
for (Eigen::DenseIndex k = 0; k < model.nv; ++k) |
| 1013 |
|
|
{ |
| 1014 |
|
✗ |
v_plus[k] = eps; |
| 1015 |
|
✗ |
const VectorXd q_plus = integrate(model, q, v_plus); |
| 1016 |
|
✗ |
computeJointJacobians(model, data_plus, q_plus); |
| 1017 |
|
✗ |
J_plus.setZero(); |
| 1018 |
|
✗ |
getJointJacobian(model, data_plus, joint_id, WORLD, J_plus); |
| 1019 |
|
|
|
| 1020 |
|
✗ |
Data::Matrix6x dJ_dq_ref = (J_plus - J_ref) / eps; |
| 1021 |
|
|
Eigen::Map<Data::Matrix6x> dJ_dq( |
| 1022 |
|
✗ |
kinematic_hessian_world.data() + k * outer_offset, 6, model.nv); |
| 1023 |
|
|
|
| 1024 |
|
|
// std::cout << "k: " << k << std::endl; |
| 1025 |
|
|
// std::cout << "dJ_dq:\n" << dJ_dq << std::endl; |
| 1026 |
|
|
// std::cout << "dJ_dq_ref:\n" << dJ_dq_ref << std::endl; |
| 1027 |
|
✗ |
BOOST_CHECK((dJ_dq_ref - dJ_dq).isZero(sqrt(eps))); |
| 1028 |
|
✗ |
v_plus[k] = 0.; |
| 1029 |
|
|
} |
| 1030 |
|
|
|
| 1031 |
|
|
// LOCAL_WORLD_ALIGNED |
| 1032 |
|
✗ |
computeJointJacobians(model, data_ref, q); |
| 1033 |
|
✗ |
getJointJacobian(model, data_ref, joint_id, LOCAL_WORLD_ALIGNED, J_ref); |
| 1034 |
|
|
Data::Tensor3x kinematic_hessian_local_world_aligned = |
| 1035 |
|
✗ |
getJointKinematicHessian(model, data, joint_id, LOCAL_WORLD_ALIGNED); |
| 1036 |
|
✗ |
Data::Matrix3x dt_last_fd(3, model.nv); |
| 1037 |
|
✗ |
for (Eigen::DenseIndex k = 0; k < model.nv; ++k) |
| 1038 |
|
|
{ |
| 1039 |
|
✗ |
v_plus[k] = eps; |
| 1040 |
|
✗ |
const VectorXd q_plus = integrate(model, q, v_plus); |
| 1041 |
|
✗ |
computeJointJacobians(model, data_plus, q_plus); |
| 1042 |
|
✗ |
J_plus.setZero(); |
| 1043 |
|
✗ |
getJointJacobian(model, data_plus, joint_id, LOCAL_WORLD_ALIGNED, J_plus); |
| 1044 |
|
|
|
| 1045 |
|
✗ |
SE3 tMt_plus = data_ref.oMi[joint_id].inverse() * data_plus.oMi[joint_id]; |
| 1046 |
|
✗ |
tMt_plus.rotation().setIdentity(); |
| 1047 |
|
|
|
| 1048 |
|
✗ |
dt_last_fd.col(k) = |
| 1049 |
|
✗ |
(data_plus.oMi[joint_id].translation() - data_ref.oMi[joint_id].translation()) / eps; |
| 1050 |
|
|
|
| 1051 |
|
✗ |
Data::Matrix6x dJ_dq_ref = (J_plus - J_ref) / eps; |
| 1052 |
|
|
Eigen::Map<Data::Matrix6x> dJ_dq( |
| 1053 |
|
✗ |
kinematic_hessian_local_world_aligned.data() + k * outer_offset, 6, model.nv); |
| 1054 |
|
|
|
| 1055 |
|
|
// std::cout << "k: " << k << std::endl; |
| 1056 |
|
|
// std::cout << "dJ_dq:\n" << dJ_dq << std::endl; |
| 1057 |
|
|
// std::cout << "dJ_dq_ref:\n" << dJ_dq_ref << std::endl; |
| 1058 |
|
✗ |
BOOST_CHECK((dJ_dq_ref - dJ_dq).isZero(sqrt(eps))); |
| 1059 |
|
✗ |
v_plus[k] = 0.; |
| 1060 |
|
|
} |
| 1061 |
|
|
|
| 1062 |
|
✗ |
Data::Matrix6x J_world(6, model.nv); |
| 1063 |
|
✗ |
J_world.setZero(); |
| 1064 |
|
✗ |
getJointJacobian(model, data_ref, joint_id, LOCAL_WORLD_ALIGNED, J_world); |
| 1065 |
|
|
|
| 1066 |
|
✗ |
BOOST_CHECK(dt_last_fd.isApprox(J_world.topRows<3>(), sqrt(eps))); |
| 1067 |
|
|
|
| 1068 |
|
|
// LOCAL |
| 1069 |
|
✗ |
computeJointJacobians(model, data_ref, q); |
| 1070 |
|
✗ |
getJointJacobian(model, data_ref, joint_id, LOCAL, J_ref); |
| 1071 |
|
✗ |
Data::Tensor3x kinematic_hessian_local = getJointKinematicHessian(model, data, joint_id, LOCAL); |
| 1072 |
|
✗ |
for (Eigen::DenseIndex k = 0; k < model.nv; ++k) |
| 1073 |
|
|
{ |
| 1074 |
|
✗ |
v_plus[k] = eps; |
| 1075 |
|
✗ |
const VectorXd q_plus = integrate(model, q, v_plus); |
| 1076 |
|
✗ |
computeJointJacobians(model, data_plus, q_plus); |
| 1077 |
|
✗ |
J_plus.setZero(); |
| 1078 |
|
✗ |
getJointJacobian(model, data_plus, joint_id, LOCAL, J_plus); |
| 1079 |
|
|
|
| 1080 |
|
|
// const SE3 tMt_plus = data_ref.oMi[joint_id].inverse() * data_plus.oMi[joint_id]; |
| 1081 |
|
|
|
| 1082 |
|
✗ |
Data::Matrix6x dJ_dq_ref = (J_plus - J_ref) / eps; |
| 1083 |
|
|
Eigen::Map<Data::Matrix6x> dJ_dq( |
| 1084 |
|
✗ |
kinematic_hessian_local.data() + k * outer_offset, 6, model.nv); |
| 1085 |
|
|
|
| 1086 |
|
|
// std::cout << "k: " << k << std::endl; |
| 1087 |
|
|
// std::cout << "dJ_dq:\n" << dJ_dq << std::endl; |
| 1088 |
|
|
// std::cout << "dJ_dq_ref:\n" << dJ_dq_ref << std::endl; |
| 1089 |
|
✗ |
BOOST_CHECK((dJ_dq_ref - dJ_dq).isZero(sqrt(eps))); |
| 1090 |
|
✗ |
v_plus[k] = 0.; |
| 1091 |
|
|
} |
| 1092 |
|
|
} |
| 1093 |
|
|
|
| 1094 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
| 1095 |
|
|
|