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// |
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// Copyright (c) 2020 INRIA |
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// |
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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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#include "pinocchio/algorithm/utils/motion.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_motion) |
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{ |
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using namespace pinocchio; |
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const SE3 placement = SE3::Random(); |
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const Motion m_in = Motion::Random(); |
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// test case 1-2-3 |
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{ |
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BOOST_CHECK(changeReferenceFrame(placement, m_in, LOCAL, LOCAL) == m_in); |
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BOOST_CHECK(changeReferenceFrame(placement, m_in, WORLD, WORLD) == m_in); |
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BOOST_CHECK( |
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changeReferenceFrame(placement, m_in, LOCAL_WORLD_ALIGNED, LOCAL_WORLD_ALIGNED) == m_in); |
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} |
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const ReferenceFrame all_choices[3] = {LOCAL, WORLD, LOCAL_WORLD_ALIGNED}; |
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for (int i = 0; i < 3; ++i) |
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for (int j = 0; j < 3; ++j) |
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BOOST_CHECK( |
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changeReferenceFrame(SE3::Identity(), m_in, all_choices[i], all_choices[j]) == m_in); |
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// LOCAL/WORLD and WORLD/LOCAL |
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{ |
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Motion m_sol_w = placement.act(m_in); |
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BOOST_CHECK(changeReferenceFrame(placement, m_in, LOCAL, WORLD) == m_sol_w); |
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BOOST_CHECK(changeReferenceFrame(placement, m_sol_w, WORLD, LOCAL).isApprox(m_in)); |
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} |
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// LOCAL/LOCAL_WORLD_ALIGNED and LOCAL_WORLD_ALIGNED/LOCAL |
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{ |
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const SE3 placement_LWA(placement.rotation(), SE3::Vector3::Zero()); |
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Motion m_sol_lwa = placement_LWA.act(m_in); |
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BOOST_CHECK(changeReferenceFrame(placement, m_in, LOCAL, LOCAL_WORLD_ALIGNED) == m_sol_lwa); |
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BOOST_CHECK( |
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changeReferenceFrame(placement, m_sol_lwa, LOCAL_WORLD_ALIGNED, LOCAL).isApprox(m_in)); |
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} |
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// WORLD/LOCAL_WORLD_ALIGNED and LOCAL_WORLD_ALIGNED/WORLD |
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{ |
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const SE3 placement_W(SE3::Matrix3::Identity(), placement.translation()); |
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Motion m_sol_w = placement_W.act(m_in); |
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BOOST_CHECK( |
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changeReferenceFrame(placement, m_in, LOCAL_WORLD_ALIGNED, WORLD).isApprox(m_sol_w)); |
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BOOST_CHECK( |
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changeReferenceFrame(placement, m_sol_w, WORLD, LOCAL_WORLD_ALIGNED).isApprox(m_in)); |
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} |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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