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// |
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// Copyright (c) 2016-2022 CNRS INRIA |
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// |
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#include "pinocchio/multibody/data.hpp" |
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#include "pinocchio/multibody/model.hpp" |
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#include "pinocchio/algorithm/check.hpp" |
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#include "pinocchio/algorithm/model.hpp" |
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#include "pinocchio/algorithm/kinematics.hpp" |
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#include "pinocchio/algorithm/frames.hpp" |
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#include "pinocchio/algorithm/joint-configuration.hpp" |
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#include "pinocchio/algorithm/geometry.hpp" |
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#include "pinocchio/algorithm/center-of-mass.hpp" |
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#include "pinocchio/multibody/sample-models.hpp" |
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#include "pinocchio/spatial/fwd.hpp" |
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#include <boost/test/unit_test.hpp> |
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#include <boost/utility/binary.hpp> |
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using namespace pinocchio; |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_model_subtree) |
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{ |
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Model model; |
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buildModels::humanoidRandom(model); |
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Model::JointIndex idx_larm1 = model.getJointId("larm1_joint"); |
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BOOST_CHECK(idx_larm1 < (Model::JointIndex)model.njoints); |
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Model::IndexVector & subtree = model.subtrees[idx_larm1]; |
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BOOST_CHECK(subtree.size() == 6); |
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for (size_t joint_id = 0; joint_id < model.joints.size(); ++joint_id) |
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{ |
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const Model::IndexVector & children = model.children[joint_id]; |
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for (size_t i = 0; i < children.size(); ++i) |
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{ |
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BOOST_CHECK(model.parents[children[i]] == joint_id); |
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} |
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} |
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for (size_t i = 1; i < subtree.size(); ++i) |
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{ |
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BOOST_CHECK(model.parents[subtree[i]] == subtree[i - 1]); |
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} |
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// Check that i starts subtree[i] |
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for (JointIndex joint_id = 1; joint_id < (JointIndex)model.njoints; ++joint_id) |
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{ |
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BOOST_CHECK(model.subtrees[joint_id][0] == joint_id); |
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} |
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// Check that subtree[0] contains all joint ids |
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for (JointIndex joint_id = 1; joint_id < (JointIndex)model.njoints; ++joint_id) |
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{ |
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BOOST_CHECK(model.subtrees[0][joint_id - 1] == joint_id); |
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} |
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} |
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BOOST_AUTO_TEST_CASE(test_model_get_frame_id) |
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{ |
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Model model; |
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buildModels::humanoidRandom(model); |
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for (FrameIndex i = 0; i < static_cast<FrameIndex>(model.nframes); i++) |
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{ |
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BOOST_CHECK_EQUAL(i, model.getFrameId(model.frames[i].name)); |
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} |
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BOOST_CHECK_EQUAL(model.nframes, model.getFrameId("NOT_A_FRAME")); |
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} |
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BOOST_AUTO_TEST_CASE(test_model_support) |
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{ |
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Model model; |
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buildModels::humanoidRandom(model); |
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const Model::IndexVector support0_ref(1, 0); |
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BOOST_CHECK(model.supports[0] == support0_ref); |
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// Check that i ends supports[i] |
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for (JointIndex joint_id = 1; joint_id < (JointIndex)model.njoints; ++joint_id) |
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{ |
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BOOST_CHECK(model.supports[joint_id].back() == joint_id); |
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Model::IndexVector & support = model.supports[joint_id]; |
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size_t current_id = support.size() - 2; |
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for (JointIndex parent_id = model.parents[joint_id]; parent_id > 0; |
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parent_id = model.parents[parent_id], current_id--) |
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{ |
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BOOST_CHECK(parent_id == support[current_id]); |
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} |
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} |
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} |
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BOOST_AUTO_TEST_CASE(test_model_subspace_dimensions) |
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{ |
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Model model; |
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buildModels::humanoidRandom(model); |
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// Check that i ends supports[i] |
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for (JointIndex joint_id = 1; joint_id < (JointIndex)model.njoints; ++joint_id) |
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{ |
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const Model::JointModel & jmodel = model.joints[joint_id]; |
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BOOST_CHECK(model.nqs[joint_id] == jmodel.nq()); |
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BOOST_CHECK(model.idx_qs[joint_id] == jmodel.idx_q()); |
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BOOST_CHECK(model.nvs[joint_id] == jmodel.nv()); |
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BOOST_CHECK(model.idx_vs[joint_id] == jmodel.idx_v()); |
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} |
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} |
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BOOST_AUTO_TEST_CASE(comparison) |
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{ |
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Model model; |
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buildModels::humanoidRandom(model); |
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BOOST_CHECK(model == model); |
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} |
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BOOST_AUTO_TEST_CASE(cast) |
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{ |
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Model model; |
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buildModels::humanoidRandom(model); |
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BOOST_CHECK(model.cast<double>() == model.cast<double>()); |
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BOOST_CHECK(model.cast<double>().cast<long double>() == model.cast<long double>()); |
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typedef ModelTpl<long double> Modelld; |
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Modelld model2(model); |
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BOOST_CHECK(model2 == model.cast<long double>()); |
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} |
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BOOST_AUTO_TEST_CASE(test_std_vector_of_Model) |
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{ |
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Model model; |
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buildModels::humanoid(model); |
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PINOCCHIO_ALIGNED_STD_VECTOR(Model) models; |
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for (size_t k = 0; k < 20; ++k) |
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{ |
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models.push_back(Model()); |
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buildModels::humanoid(models.back()); |
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BOOST_CHECK(model == models.back()); |
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} |
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} |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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struct AddPrefix |
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{ |
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std::string p; |
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std::string operator()(const std::string & n) |
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{ |
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return p + n; |
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} |
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Frame operator()(const Frame & _f) |
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{ |
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Frame f(_f); |
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f.name = p + f.name; |
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return f; |
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} |
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AddPrefix(const char * _p) |
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: p(_p) |
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{ |
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} |
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}; |
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BOOST_AUTO_TEST_CASE(append) |
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{ |
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Model manipulator, humanoid; |
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GeometryModel geomManipulator, geomHumanoid; |
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buildModels::manipulator(manipulator); |
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buildModels::manipulatorGeometries(manipulator, geomManipulator); |
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geomManipulator.addAllCollisionPairs(); |
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// Add prefix to joint and frame names |
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AddPrefix addManipulatorPrefix("manipulator/"); |
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std::transform( |
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++manipulator.names.begin(), manipulator.names.end(), ++manipulator.names.begin(), |
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addManipulatorPrefix); |
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std::transform( |
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++manipulator.frames.begin(), manipulator.frames.end(), ++manipulator.frames.begin(), |
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addManipulatorPrefix); |
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BOOST_TEST_MESSAGE(manipulator); |
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buildModels::humanoid(humanoid); |
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buildModels::humanoidGeometries(humanoid, geomHumanoid); |
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geomHumanoid.addAllCollisionPairs(); |
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// Add prefix to joint and frame names |
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AddPrefix addHumanoidPrefix("humanoid/"); |
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std::transform( |
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++humanoid.names.begin(), humanoid.names.end(), ++humanoid.names.begin(), addHumanoidPrefix); |
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std::transform( |
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++humanoid.frames.begin(), humanoid.frames.end(), ++humanoid.frames.begin(), addHumanoidPrefix); |
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BOOST_TEST_MESSAGE(humanoid); |
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typename Model::ConfigVectorType humanoid_config_vector(humanoid.nq); |
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typename Model::ConfigVectorType manipulator_config_vector(manipulator.nq); |
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humanoid_config_vector = randomConfiguration(humanoid); |
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manipulator_config_vector = randomConfiguration(manipulator); |
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humanoid.referenceConfigurations.insert(std::make_pair("common_key", humanoid_config_vector)); |
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manipulator.referenceConfigurations.insert( |
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std::make_pair("common_key", manipulator_config_vector)); |
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humanoid_config_vector = randomConfiguration(humanoid); |
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manipulator_config_vector = randomConfiguration(manipulator); |
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humanoid.referenceConfigurations.insert(std::make_pair("humanoid_key", humanoid_config_vector)); |
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manipulator.referenceConfigurations.insert( |
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std::make_pair("manipulator_key", manipulator_config_vector)); |
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// TODO fix inertia of the base |
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manipulator.inertias[0].setRandom(); |
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SE3 aMb = SE3::Random(); |
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// First append a model to the universe frame. |
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Model model1; |
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GeometryModel geomModel1; |
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FrameIndex fid = 0; |
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appendModel( |
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humanoid, manipulator, geomHumanoid, geomManipulator, fid, SE3::Identity(), model1, geomModel1); |
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typedef typename Model::ConfigVectorMap ConfigVectorMap; |
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typename Model::ConfigVectorType neutral_config_vector(model1.nq); |
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neutral(model1, neutral_config_vector); |
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BOOST_CHECK(model1.referenceConfigurations.size() == 3); |
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for (typename ConfigVectorMap::const_iterator config_it = model1.referenceConfigurations.begin(); |
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config_it != model1.referenceConfigurations.end(); ++config_it) |
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{ |
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const std::string & config_name = config_it->first; |
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const typename Model::ConfigVectorType & config_vector = config_it->second; |
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typename ConfigVectorMap::const_iterator humanoid_config = |
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humanoid.referenceConfigurations.find(config_name); |
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typename ConfigVectorMap::const_iterator manipulator_config = |
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manipulator.referenceConfigurations.find(config_name); |
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for (JointIndex joint_id = 1; joint_id < model1.joints.size(); ++joint_id) |
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{ |
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const JointModel & joint_model1 = model1.joints[joint_id]; |
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if ( |
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humanoid_config != humanoid.referenceConfigurations.end() |
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&& humanoid.existJointName(model1.names[joint_id])) |
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{ // key and joint exists in humanoid |
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const JointModel & joint_model_humanoid = |
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humanoid.joints[humanoid.getJointId(model1.names[joint_id])]; |
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BOOST_CHECK( |
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joint_model_humanoid.jointConfigSelector(humanoid_config->second) |
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== joint_model1.jointConfigSelector(config_vector)); |
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// std::cerr<<"humanoid "<<config_name<<" "<<model1.names[joint_id]<<std::endl; |
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} |
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else if ( |
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manipulator_config != manipulator.referenceConfigurations.end() |
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&& manipulator.existJointName(model1.names[joint_id])) |
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{ // key and joint exists in manipulator. |
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const JointModel & joint_model_manipulator = |
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manipulator.joints[manipulator.getJointId(model1.names[joint_id])]; |
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BOOST_CHECK( |
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joint_model_manipulator.jointConfigSelector(manipulator_config->second) |
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== joint_model1.jointConfigSelector(config_vector)); |
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// std::cerr<<"manipulator "<<config_name<<" "<<model1.names[joint_id]<<std::endl; |
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} |
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else |
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{ // joint and key combo not found, should with neutral |
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BOOST_CHECK( |
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joint_model1.jointConfigSelector(neutral_config_vector) |
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== joint_model1.jointConfigSelector(config_vector)); |
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// std::cerr<<"neutral "<<config_name<<" "<<model1.names[joint_id]<<std::endl; |
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} |
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} |
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} |
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{ |
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Model model2 = appendModel(humanoid, manipulator, fid, SE3::Identity()); |
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Model model3; |
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appendModel(humanoid, manipulator, fid, SE3::Identity(), model3); |
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BOOST_CHECK(model1 == model2); |
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BOOST_CHECK(model1 == model3); |
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BOOST_CHECK(model2 == model3); |
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} |
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Data data1(model1); |
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BOOST_CHECK(model1.check(data1)); |
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BOOST_TEST_MESSAGE(model1); |
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// Second, append a model to a moving frame. |
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Model model; |
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GeometryModel geomModel; |
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fid = humanoid.addFrame(Frame( |
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"humanoid/add_manipulator", humanoid.getJointId("humanoid/chest2_joint"), |
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humanoid.getFrameId("humanoid/chest2_joint"), aMb, OP_FRAME)); |
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// Append manipulator to chest2_joint of humanoid |
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appendModel( |
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humanoid, manipulator, geomHumanoid, geomManipulator, fid, SE3::Identity(), model, geomModel); |
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neutral_config_vector.resize(model.nq); |
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neutral(model, neutral_config_vector); |
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BOOST_CHECK(model.referenceConfigurations.size() == 3); |
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for (typename ConfigVectorMap::const_iterator config_it = model.referenceConfigurations.begin(); |
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config_it != model.referenceConfigurations.end(); ++config_it) |
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{ |
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const std::string & config_name = config_it->first; |
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const typename Model::ConfigVectorType & config_vector = config_it->second; |
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typename ConfigVectorMap::const_iterator humanoid_config = |
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humanoid.referenceConfigurations.find(config_name); |
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typename ConfigVectorMap::const_iterator manipulator_config = |
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manipulator.referenceConfigurations.find(config_name); |
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for (JointIndex joint_id = 1; joint_id < model.joints.size(); ++joint_id) |
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{ |
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const JointModel & joint_model = model.joints[joint_id]; |
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if ( |
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humanoid_config != humanoid.referenceConfigurations.end() |
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&& humanoid.existJointName(model.names[joint_id])) |
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{ // key and joint exists in humanoid |
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const JointModel & joint_model_humanoid = |
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humanoid.joints[humanoid.getJointId(model.names[joint_id])]; |
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✗ |
BOOST_CHECK( |
| 328 |
|
|
joint_model_humanoid.jointConfigSelector(humanoid_config->second) |
| 329 |
|
|
== joint_model.jointConfigSelector(config_vector)); |
| 330 |
|
|
// std::cerr<<"humanoid "<<config_name<<" "<<model.names[joint_id]<<std::endl; |
| 331 |
|
|
} |
| 332 |
|
✗ |
else if ( |
| 333 |
|
✗ |
manipulator_config != manipulator.referenceConfigurations.end() |
| 334 |
|
✗ |
&& manipulator.existJointName(model.names[joint_id])) |
| 335 |
|
|
{ // key and joint exists in manipulator. |
| 336 |
|
|
const JointModel & joint_model_manipulator = |
| 337 |
|
✗ |
manipulator.joints[manipulator.getJointId(model.names[joint_id])]; |
| 338 |
|
✗ |
BOOST_CHECK( |
| 339 |
|
|
joint_model_manipulator.jointConfigSelector(manipulator_config->second) |
| 340 |
|
|
== joint_model.jointConfigSelector(config_vector)); |
| 341 |
|
|
// std::cerr<<"manipulator "<<config_name<<" "<<model.names[joint_id]<<std::endl; |
| 342 |
|
|
} |
| 343 |
|
|
else |
| 344 |
|
|
{ // joint and key combo not found, should with neutral |
| 345 |
|
✗ |
BOOST_CHECK( |
| 346 |
|
|
joint_model.jointConfigSelector(neutral_config_vector) |
| 347 |
|
|
== joint_model.jointConfigSelector(config_vector)); |
| 348 |
|
|
// std::cerr<<"neutral "<<config_name<<" "<<model.names[joint_id]<<std::endl; |
| 349 |
|
|
} |
| 350 |
|
|
} |
| 351 |
|
|
} |
| 352 |
|
|
|
| 353 |
|
|
{ |
| 354 |
|
✗ |
Model model2 = appendModel(humanoid, manipulator, fid, SE3::Identity()); |
| 355 |
|
✗ |
Model model3; |
| 356 |
|
✗ |
appendModel(humanoid, manipulator, fid, SE3::Identity(), model3); |
| 357 |
|
✗ |
BOOST_CHECK(model == model2); |
| 358 |
|
✗ |
BOOST_CHECK(model == model3); |
| 359 |
|
✗ |
BOOST_CHECK(model2 == model3); |
| 360 |
|
|
} |
| 361 |
|
|
|
| 362 |
|
✗ |
BOOST_TEST_MESSAGE(model); |
| 363 |
|
|
|
| 364 |
|
✗ |
Data data(model); |
| 365 |
|
✗ |
BOOST_CHECK(model.check(data)); |
| 366 |
|
|
|
| 367 |
|
|
// Check the model |
| 368 |
|
✗ |
BOOST_CHECK_EQUAL( |
| 369 |
|
|
model.getJointId("humanoid/chest2_joint"), |
| 370 |
|
|
model.parents[model.getJointId("manipulator/shoulder1_joint")]); |
| 371 |
|
|
|
| 372 |
|
|
// check the joint order and the inertias |
| 373 |
|
|
// All the joints of the manipulator should be at the end of the merged model |
| 374 |
|
✗ |
JointIndex hnj = (JointIndex)humanoid.njoints; |
| 375 |
|
✗ |
JointIndex chest2 = model.getJointId("humanoid/chest2_joint"); |
| 376 |
|
✗ |
for (JointIndex jid = 1; jid < hnj; ++jid) |
| 377 |
|
|
{ |
| 378 |
|
✗ |
BOOST_TEST_MESSAGE("Checking joint " << jid << " " << model.names[jid]); |
| 379 |
|
✗ |
BOOST_CHECK_EQUAL(model.names[jid], humanoid.names[jid]); |
| 380 |
|
✗ |
if (jid != chest2) |
| 381 |
|
✗ |
BOOST_CHECK_EQUAL(model.inertias[jid], humanoid.inertias[jid]); |
| 382 |
|
|
else |
| 383 |
|
✗ |
BOOST_CHECK_MESSAGE( |
| 384 |
|
|
model.inertias[jid].isApprox( |
| 385 |
|
|
manipulator.inertias[0].se3Action(aMb) + humanoid.inertias[jid]), |
| 386 |
|
|
model.inertias[jid] << " != " |
| 387 |
|
|
<< manipulator.inertias[0].se3Action(aMb) + humanoid.inertias[jid]); |
| 388 |
|
|
|
| 389 |
|
✗ |
BOOST_CHECK_EQUAL(model.jointPlacements[jid], humanoid.jointPlacements[jid]); |
| 390 |
|
|
} |
| 391 |
|
✗ |
for (JointIndex jid = 1; jid < manipulator.joints.size() - 1; ++jid) |
| 392 |
|
|
{ |
| 393 |
|
✗ |
BOOST_TEST_MESSAGE("Checking joint " << hnj - 1 + jid << " " << model.names[hnj + jid]); |
| 394 |
|
✗ |
BOOST_CHECK_EQUAL(model.names[hnj - 1 + jid], manipulator.names[jid]); |
| 395 |
|
✗ |
BOOST_CHECK_EQUAL(model.inertias[hnj - 1 + jid], manipulator.inertias[jid]); |
| 396 |
|
✗ |
if (jid == 1) |
| 397 |
|
✗ |
BOOST_CHECK_EQUAL( |
| 398 |
|
|
model.jointPlacements[hnj - 1 + jid], aMb * manipulator.jointPlacements[jid]); |
| 399 |
|
|
else |
| 400 |
|
✗ |
BOOST_CHECK_EQUAL(model.jointPlacements[hnj - 1 + jid], manipulator.jointPlacements[jid]); |
| 401 |
|
|
} |
| 402 |
|
|
// Check the frames |
| 403 |
|
✗ |
for (FrameIndex fid = 1; fid < humanoid.frames.size(); ++fid) |
| 404 |
|
|
{ |
| 405 |
|
✗ |
const Frame &frame = humanoid.frames[fid], parent = humanoid.frames[frame.parentFrame]; |
| 406 |
|
✗ |
BOOST_CHECK(model.existFrame(frame.name, frame.type)); |
| 407 |
|
✗ |
const Frame &nframe = model.frames[model.getFrameId(frame.name, frame.type)], |
| 408 |
|
✗ |
nparent = model.frames[nframe.parentFrame]; |
| 409 |
|
✗ |
BOOST_CHECK_EQUAL(parent.name, nparent.name); |
| 410 |
|
✗ |
BOOST_CHECK_EQUAL(frame.placement, nframe.placement); |
| 411 |
|
|
} |
| 412 |
|
✗ |
for (FrameIndex fid = 1; fid < manipulator.frames.size(); ++fid) |
| 413 |
|
|
{ |
| 414 |
|
✗ |
const Frame &frame = manipulator.frames[fid], parent = manipulator.frames[frame.parentFrame]; |
| 415 |
|
✗ |
BOOST_CHECK(model.existFrame(frame.name, frame.type)); |
| 416 |
|
✗ |
const Frame &nframe = model.frames[model.getFrameId(frame.name, frame.type)], |
| 417 |
|
✗ |
nparent = model.frames[nframe.parentFrame]; |
| 418 |
|
✗ |
if (frame.parentFrame > 0) |
| 419 |
|
|
{ |
| 420 |
|
✗ |
BOOST_CHECK_EQUAL(parent.name, nparent.name); |
| 421 |
|
✗ |
BOOST_CHECK_EQUAL(frame.placement, nframe.placement); |
| 422 |
|
|
} |
| 423 |
|
|
} |
| 424 |
|
|
|
| 425 |
|
|
{ |
| 426 |
|
✗ |
Inertia inertia(2., Eigen::Vector3d(0.1, 0.1, 0.1), Eigen::Matrix3d::Identity()); |
| 427 |
|
✗ |
Frame additional_frame("inertial_frame", 2, SE3::Identity(), FrameType::JOINT, inertia); |
| 428 |
|
✗ |
humanoid.addFrame(additional_frame); |
| 429 |
|
✗ |
double mass_humanoid = computeTotalMass(humanoid); |
| 430 |
|
✗ |
double mass_manipulator = computeTotalMass(manipulator); |
| 431 |
|
✗ |
double total_mass = mass_manipulator + mass_humanoid; |
| 432 |
|
|
|
| 433 |
|
✗ |
Model model4; |
| 434 |
|
✗ |
GeometryModel geomModel4; |
| 435 |
|
✗ |
appendModel( |
| 436 |
|
✗ |
humanoid, manipulator, geomHumanoid, geomManipulator, 0, SE3::Identity(), model4, geomModel4); |
| 437 |
|
✗ |
BOOST_CHECK_CLOSE(computeTotalMass(model4), total_mass, 1e-6); |
| 438 |
|
|
} |
| 439 |
|
|
{ |
| 440 |
|
✗ |
Model ff_model; |
| 441 |
|
✗ |
auto ff_id = ff_model.addJoint(0, JointModelFreeFlyer(), SE3::Identity(), "floating_base"); |
| 442 |
|
✗ |
ff_model.addJointFrame(ff_id); |
| 443 |
|
✗ |
GeometryModel ff_geom_model = GeometryModel(); |
| 444 |
|
✗ |
FrameIndex frame_id = ff_model.getFrameId("floating_base"); |
| 445 |
|
✗ |
Model model4; |
| 446 |
|
✗ |
GeometryModel geomModel4; |
| 447 |
|
✗ |
appendModel( |
| 448 |
|
✗ |
ff_model, manipulator, ff_geom_model, geomManipulator, frame_id, SE3::Identity(), model4, |
| 449 |
|
|
geomModel4); |
| 450 |
|
✗ |
BOOST_CHECK(model4.inertias[1] == model4.inertias[1]); |
| 451 |
|
|
} |
| 452 |
|
|
|
| 453 |
|
|
{ |
| 454 |
|
✗ |
Model model5, gripperModel; |
| 455 |
|
|
|
| 456 |
|
✗ |
Inertia inertia(1., SE3::Vector3(0.5, 0., 0.0), SE3::Matrix3::Identity()); |
| 457 |
|
✗ |
SE3 pos(1); |
| 458 |
|
|
|
| 459 |
|
✗ |
pos.translation() = SE3::LinearType(0.1, 0., 0.); |
| 460 |
|
✗ |
JointIndex idx = gripperModel.addJoint(0, JointModelPX(), pos, "left_finger"); |
| 461 |
|
✗ |
gripperModel.addJointFrame(idx); |
| 462 |
|
|
|
| 463 |
|
✗ |
pos.translation() = SE3::LinearType(-0.1, 0., 0.); |
| 464 |
|
✗ |
idx = gripperModel.addJoint(0, JointModelPX(), pos, "right_finger"); |
| 465 |
|
✗ |
gripperModel.addJointFrame(idx); |
| 466 |
|
|
|
| 467 |
|
✗ |
SE3 transformManGr = SE3::Random(); |
| 468 |
|
✗ |
FrameIndex fid = (FrameIndex)(manipulator.frames.size() - 1); |
| 469 |
|
✗ |
appendModel(manipulator, gripperModel, fid, transformManGr, model5); |
| 470 |
|
|
|
| 471 |
|
✗ |
JointIndex jid5 = model5.getJointId("left_finger"); |
| 472 |
|
✗ |
JointIndex jidG = gripperModel.getJointId("left_finger"); |
| 473 |
|
✗ |
BOOST_CHECK( |
| 474 |
|
|
model5.jointPlacements[jid5].isApprox(transformManGr * gripperModel.jointPlacements[jidG])); |
| 475 |
|
|
|
| 476 |
|
✗ |
jid5 = model5.getJointId("right_finger"); |
| 477 |
|
✗ |
jidG = gripperModel.getJointId("right_finger"); |
| 478 |
|
✗ |
BOOST_CHECK( |
| 479 |
|
|
model5.jointPlacements[jid5].isApprox(transformManGr * gripperModel.jointPlacements[jidG])); |
| 480 |
|
|
} |
| 481 |
|
|
} |
| 482 |
|
|
#endif |
| 483 |
|
|
|
| 484 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_buildReducedModel_empty) |
| 485 |
|
|
{ |
| 486 |
|
✗ |
Model humanoid_model; |
| 487 |
|
✗ |
buildModels::humanoid(humanoid_model); |
| 488 |
|
|
|
| 489 |
|
✗ |
static const std::vector<JointIndex> empty_index_vector; |
| 490 |
|
|
|
| 491 |
|
✗ |
humanoid_model.lowerPositionLimit.head<3>().fill(-1.); |
| 492 |
|
✗ |
humanoid_model.upperPositionLimit.head<3>().fill(1.); |
| 493 |
|
|
|
| 494 |
|
✗ |
humanoid_model.referenceConfigurations.insert( |
| 495 |
|
✗ |
std::pair<std::string, Eigen::VectorXd>("neutral", neutral(humanoid_model))); |
| 496 |
|
✗ |
Eigen::VectorXd reference_config_humanoid = randomConfiguration(humanoid_model); |
| 497 |
|
|
Model humanoid_copy_model = |
| 498 |
|
✗ |
buildReducedModel(humanoid_model, empty_index_vector, reference_config_humanoid); |
| 499 |
|
|
|
| 500 |
|
✗ |
BOOST_CHECK(humanoid_copy_model.names == humanoid_model.names); |
| 501 |
|
✗ |
BOOST_CHECK(humanoid_copy_model.joints == humanoid_model.joints); |
| 502 |
|
✗ |
BOOST_CHECK(humanoid_copy_model == humanoid_model); |
| 503 |
|
✗ |
BOOST_CHECK( |
| 504 |
|
|
humanoid_copy_model.referenceConfigurations["neutral"].isApprox(neutral(humanoid_copy_model))); |
| 505 |
|
|
|
| 506 |
|
✗ |
const std::vector<JointIndex> empty_joints_to_lock; |
| 507 |
|
|
|
| 508 |
|
|
const Model reduced_humanoid_model = |
| 509 |
|
✗ |
buildReducedModel(humanoid_model, empty_joints_to_lock, reference_config_humanoid); |
| 510 |
|
✗ |
BOOST_CHECK(reduced_humanoid_model.njoints == humanoid_model.njoints); |
| 511 |
|
✗ |
BOOST_CHECK(reduced_humanoid_model.frames == humanoid_model.frames); |
| 512 |
|
✗ |
BOOST_CHECK(reduced_humanoid_model.jointPlacements == humanoid_model.jointPlacements); |
| 513 |
|
✗ |
BOOST_CHECK(reduced_humanoid_model.joints == humanoid_model.joints); |
| 514 |
|
|
|
| 515 |
|
✗ |
for (JointIndex joint_id = 1; joint_id < (JointIndex)reduced_humanoid_model.njoints; ++joint_id) |
| 516 |
|
|
{ |
| 517 |
|
✗ |
BOOST_CHECK( |
| 518 |
|
|
reduced_humanoid_model.inertias[joint_id].isApprox(humanoid_model.inertias[joint_id])); |
| 519 |
|
|
} |
| 520 |
|
|
} |
| 521 |
|
|
|
| 522 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_buildReducedModel) |
| 523 |
|
|
{ |
| 524 |
|
✗ |
Model humanoid_model; |
| 525 |
|
✗ |
buildModels::humanoid(humanoid_model); |
| 526 |
|
|
|
| 527 |
|
✗ |
static const std::vector<JointIndex> empty_index_vector; |
| 528 |
|
|
|
| 529 |
|
✗ |
humanoid_model.lowerPositionLimit.head<3>().fill(-1.); |
| 530 |
|
✗ |
humanoid_model.upperPositionLimit.head<3>().fill(1.); |
| 531 |
|
|
|
| 532 |
|
✗ |
humanoid_model.referenceConfigurations.insert( |
| 533 |
|
✗ |
std::pair<std::string, Eigen::VectorXd>("neutral", neutral(humanoid_model))); |
| 534 |
|
✗ |
Eigen::VectorXd reference_config_humanoid = randomConfiguration(humanoid_model); |
| 535 |
|
|
Model humanoid_copy_model = |
| 536 |
|
✗ |
buildReducedModel(humanoid_model, empty_index_vector, reference_config_humanoid); |
| 537 |
|
|
|
| 538 |
|
✗ |
BOOST_CHECK(humanoid_copy_model.names == humanoid_model.names); |
| 539 |
|
✗ |
BOOST_CHECK(humanoid_copy_model.joints == humanoid_model.joints); |
| 540 |
|
✗ |
BOOST_CHECK(humanoid_copy_model == humanoid_model); |
| 541 |
|
✗ |
BOOST_CHECK( |
| 542 |
|
|
humanoid_copy_model.referenceConfigurations["neutral"].isApprox(neutral(humanoid_copy_model))); |
| 543 |
|
|
|
| 544 |
|
✗ |
std::vector<JointIndex> joints_to_lock; |
| 545 |
|
✗ |
const std::string joint1_to_lock = "rarm_shoulder2_joint"; |
| 546 |
|
✗ |
joints_to_lock.push_back(humanoid_model.getJointId(joint1_to_lock)); |
| 547 |
|
✗ |
const std::string joint2_to_lock = "larm_shoulder2_joint"; |
| 548 |
|
✗ |
joints_to_lock.push_back(humanoid_model.getJointId(joint2_to_lock)); |
| 549 |
|
|
|
| 550 |
|
|
Model reduced_humanoid_model = |
| 551 |
|
✗ |
buildReducedModel(humanoid_model, joints_to_lock, reference_config_humanoid); |
| 552 |
|
✗ |
BOOST_CHECK( |
| 553 |
|
|
reduced_humanoid_model.njoints == humanoid_model.njoints - (int)joints_to_lock.size()); |
| 554 |
|
|
|
| 555 |
|
✗ |
BOOST_CHECK(reduced_humanoid_model != humanoid_model); |
| 556 |
|
|
|
| 557 |
|
✗ |
Model reduced_humanoid_model_other_signature; |
| 558 |
|
✗ |
buildReducedModel( |
| 559 |
|
|
humanoid_model, joints_to_lock, reference_config_humanoid, |
| 560 |
|
|
reduced_humanoid_model_other_signature); |
| 561 |
|
✗ |
BOOST_CHECK(reduced_humanoid_model == reduced_humanoid_model_other_signature); |
| 562 |
|
|
|
| 563 |
|
|
// Check that forward kinematics give same results |
| 564 |
|
✗ |
Data data(humanoid_model), reduced_data(reduced_humanoid_model); |
| 565 |
|
✗ |
Eigen::VectorXd q = reference_config_humanoid; |
| 566 |
|
✗ |
Eigen::VectorXd reduced_q(reduced_humanoid_model.nq); |
| 567 |
|
|
|
| 568 |
|
✗ |
for (JointIndex joint_id = 1; joint_id < (JointIndex)reduced_humanoid_model.njoints; ++joint_id) |
| 569 |
|
|
{ |
| 570 |
|
|
const JointIndex reference_joint_id = |
| 571 |
|
✗ |
humanoid_model.getJointId(reduced_humanoid_model.names[joint_id]); |
| 572 |
|
|
|
| 573 |
|
✗ |
reduced_humanoid_model.joints[joint_id].jointConfigSelector(reduced_q) = |
| 574 |
|
✗ |
humanoid_model.joints[reference_joint_id].jointConfigSelector(q); |
| 575 |
|
|
} |
| 576 |
|
|
|
| 577 |
|
✗ |
BOOST_CHECK(reduced_humanoid_model.referenceConfigurations["neutral"].isApprox( |
| 578 |
|
|
neutral(reduced_humanoid_model))); |
| 579 |
|
|
|
| 580 |
|
✗ |
framesForwardKinematics(humanoid_model, data, q); |
| 581 |
|
✗ |
framesForwardKinematics(reduced_humanoid_model, reduced_data, reduced_q); |
| 582 |
|
|
|
| 583 |
|
✗ |
for (size_t frame_id = 0; frame_id < reduced_humanoid_model.frames.size(); ++frame_id) |
| 584 |
|
|
{ |
| 585 |
|
✗ |
const Frame & reduced_frame = reduced_humanoid_model.frames[frame_id]; |
| 586 |
|
✗ |
switch (reduced_frame.type) |
| 587 |
|
|
{ |
| 588 |
|
✗ |
case JOINT: |
| 589 |
|
|
case FIXED_JOINT: { |
| 590 |
|
|
// May not be present in the original model |
| 591 |
|
✗ |
if (humanoid_model.existJointName(reduced_frame.name)) |
| 592 |
|
|
{ |
| 593 |
|
✗ |
const JointIndex joint_id = humanoid_model.getJointId(reduced_frame.name); |
| 594 |
|
✗ |
BOOST_CHECK(data.oMi[joint_id].isApprox(reduced_data.oMf[frame_id])); |
| 595 |
|
|
} |
| 596 |
|
✗ |
else if (humanoid_model.existFrame(reduced_frame.name)) |
| 597 |
|
|
{ |
| 598 |
|
✗ |
const FrameIndex humanoid_frame_id = humanoid_model.getFrameId(reduced_frame.name); |
| 599 |
|
✗ |
BOOST_CHECK(data.oMf[humanoid_frame_id].isApprox(reduced_data.oMf[frame_id])); |
| 600 |
|
|
} |
| 601 |
|
|
else |
| 602 |
|
|
{ |
| 603 |
|
✗ |
BOOST_CHECK_MESSAGE( |
| 604 |
|
|
false, "The frame " << reduced_frame.name << " is not presend in the humanoid_model"); |
| 605 |
|
|
} |
| 606 |
|
✗ |
break; |
| 607 |
|
|
} |
| 608 |
|
✗ |
default: { |
| 609 |
|
✗ |
BOOST_CHECK(humanoid_model.existFrame(reduced_frame.name)); |
| 610 |
|
✗ |
const FrameIndex humanoid_frame_id = humanoid_model.getFrameId(reduced_frame.name); |
| 611 |
|
✗ |
BOOST_CHECK(data.oMf[humanoid_frame_id].isApprox(reduced_data.oMf[frame_id])); |
| 612 |
|
✗ |
break; |
| 613 |
|
|
} |
| 614 |
|
|
} |
| 615 |
|
|
} |
| 616 |
|
|
} |
| 617 |
|
|
|
| 618 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_aligned_vector_of_model) |
| 619 |
|
|
{ |
| 620 |
|
|
typedef PINOCCHIO_ALIGNED_STD_VECTOR(Model) VectorOfModels; |
| 621 |
|
|
|
| 622 |
|
✗ |
VectorOfModels models; |
| 623 |
|
✗ |
for (size_t k = 0; k < 100; ++k) |
| 624 |
|
|
{ |
| 625 |
|
✗ |
models.push_back(Model()); |
| 626 |
|
✗ |
buildModels::humanoidRandom(models[k]); |
| 627 |
|
|
} |
| 628 |
|
|
} |
| 629 |
|
|
|
| 630 |
|
|
#ifdef PINOCCHIO_WITH_HPP_FCL |
| 631 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_buildReducedModel_with_geom) |
| 632 |
|
|
{ |
| 633 |
|
✗ |
Model humanoid_model; |
| 634 |
|
✗ |
buildModels::humanoid(humanoid_model); |
| 635 |
|
|
|
| 636 |
|
✗ |
humanoid_model.lowerPositionLimit.head<3>().fill(-1.); |
| 637 |
|
✗ |
humanoid_model.upperPositionLimit.head<3>().fill(1.); |
| 638 |
|
✗ |
const Eigen::VectorXd reference_config_humanoid = randomConfiguration(humanoid_model); |
| 639 |
|
|
|
| 640 |
|
✗ |
GeometryModel humanoid_geometry; |
| 641 |
|
✗ |
buildModels::humanoidGeometries(humanoid_model, humanoid_geometry); |
| 642 |
|
|
|
| 643 |
|
✗ |
static const std::vector<JointIndex> empty_index_vector; |
| 644 |
|
|
|
| 645 |
|
✗ |
Model humanoid_copy_model; |
| 646 |
|
✗ |
GeometryModel humanoid_copy_geometry; |
| 647 |
|
✗ |
buildReducedModel( |
| 648 |
|
|
humanoid_model, humanoid_geometry, empty_index_vector, reference_config_humanoid, |
| 649 |
|
|
humanoid_copy_model, humanoid_copy_geometry); |
| 650 |
|
|
|
| 651 |
|
✗ |
BOOST_CHECK(humanoid_copy_model == humanoid_model); |
| 652 |
|
✗ |
BOOST_CHECK(humanoid_copy_geometry == humanoid_geometry); |
| 653 |
|
|
|
| 654 |
|
✗ |
std::vector<JointIndex> joints_to_lock; |
| 655 |
|
✗ |
const std::string joint1_to_lock = "rarm_shoulder2_joint"; |
| 656 |
|
✗ |
joints_to_lock.push_back(humanoid_model.getJointId(joint1_to_lock)); |
| 657 |
|
✗ |
const std::string joint2_to_lock = "larm_shoulder2_joint"; |
| 658 |
|
✗ |
joints_to_lock.push_back(humanoid_model.getJointId(joint2_to_lock)); |
| 659 |
|
|
|
| 660 |
|
✗ |
Model reduced_humanoid_model; |
| 661 |
|
✗ |
GeometryModel reduced_humanoid_geometry; |
| 662 |
|
✗ |
buildReducedModel( |
| 663 |
|
|
humanoid_model, humanoid_geometry, joints_to_lock, reference_config_humanoid, |
| 664 |
|
|
reduced_humanoid_model, reduced_humanoid_geometry); |
| 665 |
|
|
|
| 666 |
|
✗ |
BOOST_CHECK(reduced_humanoid_geometry.ngeoms == humanoid_geometry.ngeoms); |
| 667 |
|
✗ |
BOOST_CHECK(reduced_humanoid_geometry.collisionPairs == humanoid_geometry.collisionPairs); |
| 668 |
|
✗ |
BOOST_CHECK( |
| 669 |
|
|
reduced_humanoid_geometry.geometryObjects.size() == humanoid_geometry.geometryObjects.size()); |
| 670 |
|
|
|
| 671 |
|
✗ |
for (Index i = 0; i < humanoid_geometry.geometryObjects.size(); ++i) |
| 672 |
|
|
{ |
| 673 |
|
✗ |
const GeometryObject & go1 = humanoid_geometry.geometryObjects[i]; |
| 674 |
|
✗ |
const GeometryObject & go2 = reduced_humanoid_geometry.geometryObjects[i]; |
| 675 |
|
✗ |
BOOST_CHECK_EQUAL(go1.name, go2.name); |
| 676 |
|
✗ |
BOOST_CHECK_EQUAL(go1.geometry, go2.geometry); |
| 677 |
|
✗ |
BOOST_CHECK_EQUAL(go1.meshPath, go2.meshPath); |
| 678 |
|
✗ |
BOOST_CHECK_EQUAL(go1.meshScale, go2.meshScale); |
| 679 |
|
✗ |
BOOST_CHECK_EQUAL(go1.overrideMaterial, go2.overrideMaterial); |
| 680 |
|
✗ |
BOOST_CHECK_EQUAL(go1.meshColor, go2.meshColor); |
| 681 |
|
✗ |
BOOST_CHECK_EQUAL(go1.meshTexturePath, go2.meshTexturePath); |
| 682 |
|
✗ |
BOOST_CHECK_EQUAL(go1.parentFrame, go2.parentFrame); |
| 683 |
|
✗ |
BOOST_CHECK_EQUAL( |
| 684 |
|
|
humanoid_model.frames[go1.parentFrame].name, |
| 685 |
|
|
reduced_humanoid_model.frames[go2.parentFrame].name); |
| 686 |
|
|
} |
| 687 |
|
|
|
| 688 |
|
✗ |
Data data(humanoid_model), reduced_data(reduced_humanoid_model); |
| 689 |
|
✗ |
const Eigen::VectorXd q = reference_config_humanoid; |
| 690 |
|
✗ |
Eigen::VectorXd reduced_q(reduced_humanoid_model.nq); |
| 691 |
|
|
|
| 692 |
|
✗ |
for (JointIndex joint_id = 1; joint_id < (JointIndex)reduced_humanoid_model.njoints; ++joint_id) |
| 693 |
|
|
{ |
| 694 |
|
|
const JointIndex reference_joint_id = |
| 695 |
|
✗ |
humanoid_model.getJointId(reduced_humanoid_model.names[joint_id]); |
| 696 |
|
|
|
| 697 |
|
✗ |
reduced_humanoid_model.joints[joint_id].jointConfigSelector(reduced_q) = |
| 698 |
|
✗ |
humanoid_model.joints[reference_joint_id].jointConfigSelector(q); |
| 699 |
|
|
} |
| 700 |
|
|
|
| 701 |
|
✗ |
framesForwardKinematics(humanoid_model, data, q); |
| 702 |
|
✗ |
framesForwardKinematics(reduced_humanoid_model, reduced_data, reduced_q); |
| 703 |
|
|
|
| 704 |
|
✗ |
for (size_t frame_id = 0; frame_id < reduced_humanoid_model.frames.size(); ++frame_id) |
| 705 |
|
|
{ |
| 706 |
|
✗ |
const Frame & reduced_frame = reduced_humanoid_model.frames[frame_id]; |
| 707 |
|
✗ |
switch (reduced_frame.type) |
| 708 |
|
|
{ |
| 709 |
|
✗ |
case JOINT: |
| 710 |
|
|
case FIXED_JOINT: { |
| 711 |
|
|
// May not be present in the original model |
| 712 |
|
✗ |
if (humanoid_model.existJointName(reduced_frame.name)) |
| 713 |
|
|
{ |
| 714 |
|
✗ |
const JointIndex joint_id = humanoid_model.getJointId(reduced_frame.name); |
| 715 |
|
✗ |
BOOST_CHECK(data.oMi[joint_id].isApprox(reduced_data.oMf[frame_id])); |
| 716 |
|
|
} |
| 717 |
|
✗ |
else if (humanoid_model.existFrame(reduced_frame.name)) |
| 718 |
|
|
{ |
| 719 |
|
✗ |
const FrameIndex humanoid_frame_id = humanoid_model.getFrameId(reduced_frame.name); |
| 720 |
|
✗ |
BOOST_CHECK(data.oMf[humanoid_frame_id].isApprox(reduced_data.oMf[frame_id])); |
| 721 |
|
|
} |
| 722 |
|
|
else |
| 723 |
|
|
{ |
| 724 |
|
✗ |
BOOST_CHECK_MESSAGE( |
| 725 |
|
|
false, "The frame " << reduced_frame.name << " is not presend in the humanoid_model"); |
| 726 |
|
|
} |
| 727 |
|
✗ |
break; |
| 728 |
|
|
} |
| 729 |
|
✗ |
default: { |
| 730 |
|
✗ |
BOOST_CHECK(humanoid_model.existFrame(reduced_frame.name)); |
| 731 |
|
✗ |
const FrameIndex humanoid_frame_id = humanoid_model.getFrameId(reduced_frame.name); |
| 732 |
|
✗ |
BOOST_CHECK(data.oMf[humanoid_frame_id].isApprox(reduced_data.oMf[frame_id])); |
| 733 |
|
✗ |
break; |
| 734 |
|
|
} |
| 735 |
|
|
} |
| 736 |
|
|
} |
| 737 |
|
|
|
| 738 |
|
|
// Test GeometryObject placements |
| 739 |
|
✗ |
GeometryData geom_data(humanoid_geometry), reduded_geom_data(reduced_humanoid_geometry); |
| 740 |
|
✗ |
updateGeometryPlacements(humanoid_model, data, humanoid_geometry, geom_data); |
| 741 |
|
✗ |
updateGeometryPlacements( |
| 742 |
|
|
reduced_humanoid_model, reduced_data, reduced_humanoid_geometry, reduded_geom_data); |
| 743 |
|
|
|
| 744 |
|
✗ |
BOOST_CHECK(geom_data.oMg.size() == reduded_geom_data.oMg.size()); |
| 745 |
|
✗ |
for (FrameIndex i = 0; i < geom_data.oMg.size(); ++i) |
| 746 |
|
|
{ |
| 747 |
|
✗ |
BOOST_CHECK(geom_data.oMg[i].isApprox(reduded_geom_data.oMg[i])); |
| 748 |
|
|
} |
| 749 |
|
|
|
| 750 |
|
|
// Test other signature |
| 751 |
|
✗ |
std::vector<GeometryModel> full_geometry_models; |
| 752 |
|
✗ |
full_geometry_models.push_back(humanoid_geometry); |
| 753 |
|
✗ |
full_geometry_models.push_back(humanoid_geometry); |
| 754 |
|
✗ |
full_geometry_models.push_back(humanoid_geometry); |
| 755 |
|
|
|
| 756 |
|
✗ |
std::vector<GeometryModel> reduced_geometry_models; |
| 757 |
|
|
|
| 758 |
|
✗ |
Model reduced_humanoid_model_other_sig; |
| 759 |
|
✗ |
buildReducedModel( |
| 760 |
|
|
humanoid_model, full_geometry_models, joints_to_lock, reference_config_humanoid, |
| 761 |
|
|
reduced_humanoid_model_other_sig, reduced_geometry_models); |
| 762 |
|
|
|
| 763 |
|
✗ |
BOOST_CHECK(reduced_geometry_models[0] == reduced_humanoid_geometry); |
| 764 |
|
✗ |
BOOST_CHECK(reduced_geometry_models[1] == reduced_humanoid_geometry); |
| 765 |
|
✗ |
BOOST_CHECK(reduced_geometry_models[2] == reduced_humanoid_geometry); |
| 766 |
|
|
} |
| 767 |
|
|
#endif // PINOCCHIO_WITH_HPP_FCL |
| 768 |
|
|
|
| 769 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_findCommonAncestor) |
| 770 |
|
|
{ |
| 771 |
|
✗ |
Model model; |
| 772 |
|
✗ |
buildModels::humanoid(model); |
| 773 |
|
|
|
| 774 |
|
|
{ |
| 775 |
|
|
size_t id_ancestor1, id_ancestor2; |
| 776 |
|
✗ |
JointIndex ancestor = findCommonAncestor(model, 0, 0, id_ancestor1, id_ancestor2); |
| 777 |
|
✗ |
BOOST_CHECK(ancestor == 0); |
| 778 |
|
✗ |
BOOST_CHECK(id_ancestor1 == 0); |
| 779 |
|
✗ |
BOOST_CHECK(id_ancestor2 == 0); |
| 780 |
|
|
} |
| 781 |
|
|
|
| 782 |
|
|
{ |
| 783 |
|
|
size_t id_ancestor1, id_ancestor2; |
| 784 |
|
|
JointIndex ancestor = |
| 785 |
|
✗ |
findCommonAncestor(model, 0, (JointIndex)(model.njoints - 1), id_ancestor1, id_ancestor2); |
| 786 |
|
✗ |
BOOST_CHECK(ancestor == 0); |
| 787 |
|
✗ |
BOOST_CHECK(id_ancestor1 == 0); |
| 788 |
|
✗ |
BOOST_CHECK(id_ancestor2 == 0); |
| 789 |
|
|
} |
| 790 |
|
|
|
| 791 |
|
|
{ |
| 792 |
|
|
size_t id_ancestor1, id_ancestor2; |
| 793 |
|
|
JointIndex ancestor = |
| 794 |
|
✗ |
findCommonAncestor(model, (JointIndex)(model.njoints - 1), 0, id_ancestor1, id_ancestor2); |
| 795 |
|
✗ |
BOOST_CHECK(ancestor == 0); |
| 796 |
|
✗ |
BOOST_CHECK(id_ancestor1 == 0); |
| 797 |
|
✗ |
BOOST_CHECK(id_ancestor2 == 0); |
| 798 |
|
|
} |
| 799 |
|
|
|
| 800 |
|
|
{ |
| 801 |
|
|
size_t id_ancestor1, id_ancestor2; |
| 802 |
|
|
JointIndex ancestor = |
| 803 |
|
✗ |
findCommonAncestor(model, (JointIndex)(model.njoints - 1), 1, id_ancestor1, id_ancestor2); |
| 804 |
|
✗ |
BOOST_CHECK(ancestor == 1); |
| 805 |
|
✗ |
BOOST_CHECK(model.supports[(JointIndex)(model.njoints - 1)][id_ancestor1] == ancestor); |
| 806 |
|
✗ |
BOOST_CHECK(model.supports[1][id_ancestor2] == ancestor); |
| 807 |
|
|
} |
| 808 |
|
|
} |
| 809 |
|
|
|
| 810 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_has_configuration_limit) |
| 811 |
|
|
{ |
| 812 |
|
|
using namespace Eigen; |
| 813 |
|
|
|
| 814 |
|
|
// Test joint specific function hasConfigurationLimit |
| 815 |
|
✗ |
JointModelFreeFlyer test_joint_ff = JointModelFreeFlyer(); |
| 816 |
|
✗ |
std::vector<bool> cf_limits_ff = test_joint_ff.hasConfigurationLimit(); |
| 817 |
|
✗ |
std::vector<bool> cf_limits_tangent_ff = test_joint_ff.hasConfigurationLimitInTangent(); |
| 818 |
|
✗ |
std::vector<bool> expected_cf_limits_ff({true, true, true, false, false, false, false}); |
| 819 |
|
✗ |
std::vector<bool> expected_cf_limits_tangent_ff({true, true, true, false, false, false}); |
| 820 |
|
✗ |
BOOST_CHECK(cf_limits_ff == expected_cf_limits_ff); |
| 821 |
|
✗ |
BOOST_CHECK(cf_limits_tangent_ff == expected_cf_limits_tangent_ff); |
| 822 |
|
|
|
| 823 |
|
✗ |
JointModelPlanar test_joint_planar = JointModelPlanar(); |
| 824 |
|
✗ |
std::vector<bool> cf_limits_planar = test_joint_planar.hasConfigurationLimit(); |
| 825 |
|
✗ |
std::vector<bool> cf_limits_tangent_planar = test_joint_planar.hasConfigurationLimitInTangent(); |
| 826 |
|
✗ |
std::vector<bool> expected_cf_limits_planar({true, true, false, false}); |
| 827 |
|
✗ |
std::vector<bool> expected_cf_limits_tangent_planar({true, true, false}); |
| 828 |
|
✗ |
BOOST_CHECK(cf_limits_planar == expected_cf_limits_planar); |
| 829 |
|
✗ |
BOOST_CHECK(cf_limits_tangent_planar == expected_cf_limits_tangent_planar); |
| 830 |
|
|
|
| 831 |
|
✗ |
JointModelPX test_joint_p = JointModelPX(); |
| 832 |
|
✗ |
std::vector<bool> cf_limits_prismatic = test_joint_p.hasConfigurationLimit(); |
| 833 |
|
✗ |
std::vector<bool> cf_limits_tangent_prismatic = test_joint_p.hasConfigurationLimitInTangent(); |
| 834 |
|
✗ |
std::vector<bool> expected_cf_limits_prismatic({true}); |
| 835 |
|
✗ |
std::vector<bool> expected_cf_limits_tangent_prismatic({true}); |
| 836 |
|
✗ |
BOOST_CHECK(cf_limits_prismatic == expected_cf_limits_prismatic); |
| 837 |
|
✗ |
BOOST_CHECK(cf_limits_tangent_prismatic == expected_cf_limits_tangent_prismatic); |
| 838 |
|
|
|
| 839 |
|
|
// Test model.hasConfigurationLimit() function |
| 840 |
|
✗ |
Model model; |
| 841 |
|
✗ |
JointIndex jointId = 0; |
| 842 |
|
|
|
| 843 |
|
✗ |
jointId = model.addJoint(jointId, JointModelFreeFlyer(), SE3::Identity(), "Joint0"); |
| 844 |
|
✗ |
jointId = model.addJoint(jointId, JointModelRZ(), SE3::Identity(), "Joint1"); |
| 845 |
|
✗ |
jointId = model.addJoint( |
| 846 |
|
✗ |
jointId, JointModelRUBZ(), SE3(Matrix3d::Identity(), Vector3d(1.0, 0.0, 0.0)), "Joint2"); |
| 847 |
|
|
|
| 848 |
|
|
std::vector<bool> expected_cf_limits_model( |
| 849 |
|
|
{true, true, true, // translation of FF |
| 850 |
|
|
false, false, false, false, // rotation of FF |
| 851 |
|
|
true, // roational joint |
| 852 |
|
✗ |
false, false}); // unbounded rotational joint |
| 853 |
|
✗ |
std::vector<bool> model_cf_limits = model.hasConfigurationLimit(); |
| 854 |
|
✗ |
BOOST_CHECK((model_cf_limits == expected_cf_limits_model)); |
| 855 |
|
|
|
| 856 |
|
|
// Test model.hasConfigurationLimitInTangent() function |
| 857 |
|
|
std::vector<bool> expected_cf_limits_tangent_model( |
| 858 |
|
|
{true, true, true, // translation of FF |
| 859 |
|
|
false, false, false, // rotation of FF |
| 860 |
|
|
true, // roational joint |
| 861 |
|
✗ |
false}); // unbounded rotational joint |
| 862 |
|
✗ |
std::vector<bool> model_cf_limits_tangent = model.hasConfigurationLimitInTangent(); |
| 863 |
|
✗ |
BOOST_CHECK((model_cf_limits_tangent == expected_cf_limits_tangent_model)); |
| 864 |
|
|
} |
| 865 |
|
|
|
| 866 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
| 867 |
|
|
|