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// |
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// Copyright (c) 2018-2019 CNRS INRIA |
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// |
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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/kinematics.hpp" |
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#include "pinocchio/algorithm/crba.hpp" |
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#include "pinocchio/algorithm/joint-configuration.hpp" |
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#include "pinocchio/multibody/sample-models.hpp" |
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#include <iostream> |
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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_constant_vector_input) |
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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); |
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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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forwardKinematics(model, data, Model::ConfigVectorType::Ones(model.nq)); |
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} |
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BOOST_AUTO_TEST_CASE(test_kinematics_zero) |
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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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forwardKinematics(model, data_ref, q); |
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crba(model, data, q, Convention::WORLD); |
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updateGlobalPlacements(model, data); |
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for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i) |
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{ |
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BOOST_CHECK(data.oMi[i] == data_ref.oMi[i]); |
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BOOST_CHECK(data.liMi[i] == data_ref.liMi[i]); |
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} |
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} |
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BOOST_AUTO_TEST_CASE(test_kinematics_first) |
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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); |
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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::Zero(model.nv)); |
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forwardKinematics(model, data, q, v); |
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for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i) |
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{ |
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BOOST_CHECK(data.v[i] == Motion::Zero()); |
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} |
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} |
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BOOST_AUTO_TEST_CASE(test_kinematics_second) |
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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); |
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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::Zero(model.nv)); |
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VectorXd a(VectorXd::Zero(model.nv)); |
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forwardKinematics(model, data, q, v, a); |
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for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i) |
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{ |
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BOOST_CHECK(data.v[i] == Motion::Zero()); |
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BOOST_CHECK(data.a[i] == Motion::Zero()); |
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} |
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} |
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BOOST_AUTO_TEST_CASE(test_get_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); |
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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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forwardKinematics(model, data, q, v); |
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for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i) |
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{ |
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BOOST_CHECK(data.v[i].isApprox(getVelocity(model, data, i))); |
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BOOST_CHECK(data.v[i].isApprox(getVelocity(model, data, i, LOCAL))); |
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BOOST_CHECK(data.oMi[i].act(data.v[i]).isApprox(getVelocity(model, data, i, WORLD))); |
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BOOST_CHECK(SE3(data.oMi[i].rotation(), Eigen::Vector3d::Zero()) |
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.act(data.v[i]) |
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.isApprox(getVelocity(model, data, i, LOCAL_WORLD_ALIGNED))); |
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} |
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} |
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BOOST_AUTO_TEST_CASE(test_get_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); |
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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, q, v, a); |
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for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i) |
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{ |
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BOOST_CHECK(data.a[i].isApprox(getAcceleration(model, data, i))); |
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BOOST_CHECK(data.a[i].isApprox(getAcceleration(model, data, i, LOCAL))); |
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BOOST_CHECK(data.oMi[i].act(data.a[i]).isApprox(getAcceleration(model, data, i, WORLD))); |
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BOOST_CHECK(SE3(data.oMi[i].rotation(), Eigen::Vector3d::Zero()) |
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.act(data.a[i]) |
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.isApprox(getAcceleration(model, data, i, LOCAL_WORLD_ALIGNED))); |
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} |
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} |
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BOOST_AUTO_TEST_CASE(test_get_classical_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); |
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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, q, v, a); |
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for (Model::JointIndex i = 1; i < (Model::JointIndex)model.njoints; ++i) |
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{ |
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SE3 T = data.oMi[i]; |
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Motion vel = data.v[i]; |
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Motion acc = data.a[i]; |
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Vector3d linear; |
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Motion acc_classical_local = acc; |
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linear = acc.linear() + vel.angular().cross(vel.linear()); |
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acc_classical_local.linear() = linear; |
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BOOST_CHECK(acc_classical_local.isApprox(getClassicalAcceleration(model, data, i))); |
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BOOST_CHECK(acc_classical_local.isApprox(getClassicalAcceleration(model, data, i, LOCAL))); |
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Motion vel_world = T.act(vel); |
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Motion acc_classical_world = T.act(acc); |
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linear = acc_classical_world.linear() + vel_world.angular().cross(vel_world.linear()); |
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acc_classical_world.linear() = linear; |
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BOOST_CHECK(acc_classical_world.isApprox(getClassicalAcceleration(model, data, i, WORLD))); |
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Motion vel_aligned = SE3(data.oMi[i].rotation(), Eigen::Vector3d::Zero()).act(vel); |
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Motion acc_classical_aligned = SE3(data.oMi[i].rotation(), Eigen::Vector3d::Zero()).act(acc); |
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linear = acc_classical_aligned.linear() + vel_aligned.angular().cross(vel_aligned.linear()); |
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acc_classical_aligned.linear() = linear; |
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BOOST_CHECK(acc_classical_aligned.isApprox( |
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getClassicalAcceleration(model, data, i, LOCAL_WORLD_ALIGNED))); |
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} |
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} |
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BOOST_AUTO_TEST_CASE(test_kinematic_getters) |
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{ |
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using namespace Eigen; |
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using namespace pinocchio; |
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// Build a simple 2R planar model |
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Model model; |
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JointIndex jointId = 0; |
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jointId = model.addJoint(jointId, JointModelRZ(), SE3::Identity(), "Joint1"); |
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jointId = model.addJoint( |
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jointId, JointModelRZ(), SE3(Matrix3d::Identity(), Vector3d(1.0, 0.0, 0.0)), "Joint2"); |
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Data data(model); |
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// Predetermined configuration values |
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VectorXd q(model.nq); |
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q << M_PI / 2.0, 0.0; |
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VectorXd v(model.nv); |
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v << 1.0, 0.0; |
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VectorXd a(model.nv); |
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a << 0.0, 0.0; |
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// Expected velocity |
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Motion v_local; |
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v_local.linear() = Vector3d(0.0, 1.0, 0.0); |
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v_local.angular() = Vector3d(0.0, 0.0, 1.0); |
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Motion v_world; |
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v_world.linear() = Vector3d::Zero(); |
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v_world.angular() = Vector3d(0.0, 0.0, 1.0); |
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Motion v_align; |
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v_align.linear() = Vector3d(-1.0, 0.0, 0.0); |
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v_align.angular() = Vector3d(0.0, 0.0, 1.0); |
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// Expected classical acceleration |
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Motion ac_local; |
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ac_local.linear() = Vector3d(-1.0, 0.0, 0.0); |
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ac_local.angular() = Vector3d::Zero(); |
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Motion ac_world = Motion::Zero(); |
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Motion ac_align; |
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ac_align.linear() = Vector3d(0.0, -1.0, 0.0); |
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ac_align.angular() = Vector3d::Zero(); |
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// Perform kinematics |
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forwardKinematics(model, data, q, v, a); |
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// Check output velocity |
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BOOST_CHECK(v_local.isApprox(getVelocity(model, data, jointId))); |
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BOOST_CHECK(v_local.isApprox(getVelocity(model, data, jointId, LOCAL))); |
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BOOST_CHECK(v_world.isApprox(getVelocity(model, data, jointId, WORLD))); |
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BOOST_CHECK(v_align.isApprox(getVelocity(model, data, jointId, LOCAL_WORLD_ALIGNED))); |
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// Check output acceleration (all zero) |
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BOOST_CHECK(getAcceleration(model, data, jointId).isZero()); |
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BOOST_CHECK(getAcceleration(model, data, jointId, LOCAL).isZero()); |
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BOOST_CHECK(getAcceleration(model, data, jointId, WORLD).isZero()); |
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BOOST_CHECK(getAcceleration(model, data, jointId, LOCAL_WORLD_ALIGNED).isZero()); |
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// Check output classical |
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BOOST_CHECK(ac_local.isApprox(getClassicalAcceleration(model, data, jointId))); |
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BOOST_CHECK(ac_local.isApprox(getClassicalAcceleration(model, data, jointId, LOCAL))); |
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BOOST_CHECK(ac_world.isApprox(getClassicalAcceleration(model, data, jointId, WORLD))); |
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BOOST_CHECK( |
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ac_align.isApprox(getClassicalAcceleration(model, data, jointId, LOCAL_WORLD_ALIGNED))); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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