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// |
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// Copyright (c) 2015-2020 CNRS INRIA |
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// |
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/* |
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* Unittest of the RNE algorithm. The code simply test that the algorithm does |
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* not cause any serious errors. The numerical values are not cross validated |
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* in any way. |
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* |
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*/ |
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#include "pinocchio/spatial/fwd.hpp" |
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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/rnea.hpp" |
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#include "pinocchio/algorithm/jacobian.hpp" |
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#include "pinocchio/algorithm/center-of-mass.hpp" |
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#include "pinocchio/algorithm/joint-configuration.hpp" |
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#include "pinocchio/algorithm/crba.hpp" |
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#include "pinocchio/algorithm/centroidal.hpp" |
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#include "pinocchio/multibody/sample-models.hpp" |
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#include "pinocchio/utils/timer.hpp" |
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#include <iostream> |
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// #define __SSE3__ |
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#include <fenv.h> |
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#ifdef __SSE3__ |
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#include <pmmintrin.h> |
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#endif |
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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_rnea) |
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{ |
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#ifdef __SSE3__ |
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_MM_SET_DENORMALS_ZERO_MODE(_MM_DENORMALS_ZERO_ON); |
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#endif |
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using namespace Eigen; |
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using namespace pinocchio; |
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pinocchio::Model model; |
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buildModels::humanoidRandom(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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pinocchio::Data data(model); |
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data.v[0] = Motion::Zero(); |
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data.a[0] = -model.gravity; |
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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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#ifdef NDEBUG |
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const size_t NBT = 10000; |
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#else |
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const size_t NBT = 1; |
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std::cout << "(the time score in debug mode is not relevant) "; |
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#endif |
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PinocchioTicToc timer(PinocchioTicToc::US); |
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timer.tic(); |
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SMOOTH(NBT) |
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{ |
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rnea(model, data, q, v, a); |
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} |
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timer.toc(std::cout, NBT); |
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} |
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BOOST_AUTO_TEST_CASE(test_nle_vs_rnea) |
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{ |
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using namespace Eigen; |
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using namespace pinocchio; |
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pinocchio::Model model; |
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buildModels::humanoidRandom(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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pinocchio::Data data_nle(model); |
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pinocchio::Data data_rnea(model); |
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VectorXd q = randomConfiguration(model); |
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VectorXd v = VectorXd::Random(model.nv); |
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VectorXd tau_nle(VectorXd::Zero(model.nv)); |
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VectorXd tau_rnea(VectorXd::Zero(model.nv)); |
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// ------- |
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q.tail(model.nq - 7).setZero(); |
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v.setZero(); |
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tau_nle = nonLinearEffects(model, data_nle, q, v); |
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tau_rnea = rnea(model, data_rnea, q, v, VectorXd::Zero(model.nv)); |
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BOOST_CHECK(tau_nle.isApprox(tau_rnea, 1e-12)); |
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// ------- |
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q.tail(model.nq - 7).setZero(); |
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v.setOnes(); |
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tau_nle = nonLinearEffects(model, data_nle, q, v); |
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tau_rnea = rnea(model, data_rnea, q, v, VectorXd::Zero(model.nv)); |
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BOOST_CHECK(tau_nle.isApprox(tau_rnea, 1e-12)); |
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// ------- |
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q.tail(model.nq - 7).setOnes(); |
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v.setOnes(); |
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tau_nle = nonLinearEffects(model, data_nle, q, v); |
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tau_rnea = rnea(model, data_rnea, q, v, VectorXd::Zero(model.nv)); |
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BOOST_CHECK(tau_nle.isApprox(tau_rnea, 1e-12)); |
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// ------- |
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q = randomConfiguration(model); |
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v.setRandom(); |
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tau_nle = nonLinearEffects(model, data_nle, q, v); |
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tau_rnea = rnea(model, data_rnea, q, v, VectorXd::Zero(model.nv)); |
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BOOST_CHECK(tau_nle.isApprox(tau_rnea, 1e-12)); |
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} |
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BOOST_AUTO_TEST_CASE(test_rnea_with_fext) |
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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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model.lowerPositionLimit.head<3>().fill(-1.); |
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model.upperPositionLimit.head<3>().fill(1.); |
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Data data_rnea_fext(model); |
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Data data_rnea(model); |
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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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PINOCCHIO_ALIGNED_STD_VECTOR(Force) fext(model.joints.size(), Force::Zero()); |
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JointIndex rf = model.getJointId("rleg6_joint"); |
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Force Frf = Force::Random(); |
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fext[rf] = Frf; |
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JointIndex lf = model.getJointId("lleg6_joint"); |
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Force Flf = Force::Random(); |
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fext[lf] = Flf; |
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rnea(model, data_rnea, q, v, a); |
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VectorXd tau_ref(data_rnea.tau); |
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Data::Matrix6x Jrf(Data::Matrix6x::Zero(6, model.nv)); |
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computeJointJacobian(model, data_rnea, q, rf, Jrf); |
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tau_ref -= Jrf.transpose() * Frf.toVector(); |
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Data::Matrix6x Jlf(Data::Matrix6x::Zero(6, model.nv)); |
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computeJointJacobian(model, data_rnea, q, lf, Jlf); |
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tau_ref -= Jlf.transpose() * Flf.toVector(); |
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rnea(model, data_rnea_fext, q, v, a, fext); |
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BOOST_CHECK(tau_ref.isApprox(data_rnea_fext.tau)); |
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} |
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BOOST_AUTO_TEST_CASE(test_rnea_with_armature) |
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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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model.armature = VectorXd::Random(model.nv) + VectorXd::Ones(model.nv); |
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model.lowerPositionLimit.head<3>().fill(-1.); |
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model.upperPositionLimit.head<3>().fill(1.); |
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Data data(model); |
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Data data_ref(model); |
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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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crba(model, data_ref, q, Convention::WORLD); |
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data_ref.M.triangularView<StrictlyLower>() = |
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data_ref.M.transpose().triangularView<StrictlyLower>(); |
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const VectorXd nle = nonLinearEffects(model, data_ref, q, v); |
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const VectorXd tau_ref = data_ref.M * a + nle; |
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rnea(model, data, q, v, a); |
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BOOST_CHECK(tau_ref.isApprox(data.tau)); |
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} |
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BOOST_AUTO_TEST_CASE(test_compute_gravity) |
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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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model.lowerPositionLimit.head<3>().fill(-1.); |
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model.upperPositionLimit.head<3>().fill(1.); |
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Data data_rnea(model); |
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Data data(model); |
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VectorXd q = randomConfiguration(model); |
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rnea(model, data_rnea, q, VectorXd::Zero(model.nv), VectorXd::Zero(model.nv)); |
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computeGeneralizedGravity(model, data, q); |
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BOOST_CHECK(data_rnea.tau.isApprox(data.g)); |
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// Compare with Jcom |
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crba(model, data_rnea, q, Convention::WORLD); |
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Data::Matrix3x Jcom = getJacobianComFromCrba(model, data_rnea); |
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VectorXd g_ref(-data_rnea.mass[0] * Jcom.transpose() * Model::gravity981); |
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BOOST_CHECK(g_ref.isApprox(data.g)); |
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} |
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BOOST_AUTO_TEST_CASE(test_compute_static_torque) |
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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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model.lowerPositionLimit.head<3>().fill(-1.); |
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model.upperPositionLimit.head<3>().fill(1.); |
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Data data_rnea(model); |
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Data data(model); |
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VectorXd q = randomConfiguration(model); |
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typedef PINOCCHIO_ALIGNED_STD_VECTOR(Force) ForceVector; |
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ForceVector fext((size_t)model.njoints); |
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for (ForceVector::iterator it = fext.begin(); it != fext.end(); ++it) |
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(*it).setRandom(); |
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rnea(model, data_rnea, q, VectorXd::Zero(model.nv), VectorXd::Zero(model.nv), fext); |
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computeStaticTorque(model, data, q, fext); |
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BOOST_CHECK(data_rnea.tau.isApprox(data.tau)); |
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// Compare with Jcom + Jacobian of joint |
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crba(model, data_rnea, q, Convention::WORLD); |
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Data::Matrix3x Jcom = getJacobianComFromCrba(model, data_rnea); |
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VectorXd static_torque_ref = -data_rnea.mass[0] * Jcom.transpose() * Model::gravity981; |
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computeJointJacobians(model, data_rnea, q); |
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Data::Matrix6x J_local(6, model.nv); |
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for (JointIndex joint_id = 1; joint_id < (JointIndex)(model.njoints); ++joint_id) |
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{ |
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J_local.setZero(); |
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getJointJacobian(model, data_rnea, joint_id, LOCAL, J_local); |
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static_torque_ref -= J_local.transpose() * fext[joint_id].toVector(); |
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} |
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BOOST_CHECK(static_torque_ref.isApprox(data.tau)); |
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} |
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BOOST_AUTO_TEST_CASE(test_compute_coriolis) |
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{ |
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using namespace Eigen; |
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using namespace pinocchio; |
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const double prec = Eigen::NumTraits<double>::dummy_precision(); |
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Model model; |
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buildModels::humanoidRandom(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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Data data_ref(model); |
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Data data(model); |
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VectorXd q = randomConfiguration(model); |
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VectorXd v(VectorXd::Random(model.nv)); |
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computeCoriolisMatrix(model, data, q, Eigen::VectorXd::Zero(model.nv)); |
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BOOST_CHECK(data.C.isZero(prec)); |
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model.gravity.setZero(); |
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rnea(model, data_ref, q, v, VectorXd::Zero(model.nv)); |
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computeJointJacobiansTimeVariation(model, data_ref, q, v); |
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computeCoriolisMatrix(model, data, q, v); |
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BOOST_CHECK(data.dJ.isApprox(data_ref.dJ)); |
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BOOST_CHECK(data.J.isApprox(data_ref.J)); |
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VectorXd tau = data.C * v; |
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BOOST_CHECK(tau.isApprox(data_ref.tau, prec)); |
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dccrba(model, data_ref, q, v); |
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crba(model, data_ref, q, Convention::WORLD); |
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const Data::Vector3 & com = data_ref.com[0]; |
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Motion vcom(data_ref.vcom[0], Data::Vector3::Zero()); |
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SE3 cM1(data.oMi[1]); |
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cM1.translation() -= com; |
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BOOST_CHECK((cM1.toDualActionMatrix() * data_ref.M.topRows<6>()).isApprox(data_ref.Ag, prec)); |
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Force dh_ref = cM1.act(Force(data_ref.tau.head<6>())); |
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Force dh(data_ref.dAg * v); |
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BOOST_CHECK(dh.isApprox(dh_ref, prec)); |
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{ |
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Data data_ref(model), data_ref_plus(model); |
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Eigen::MatrixXd dM(data.C + data.C.transpose()); |
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const double alpha = 1e-8; |
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✗ |
Eigen::VectorXd q_plus(model.nq); |
| 333 |
|
✗ |
q_plus = integrate(model, q, alpha * v); |
| 334 |
|
|
|
| 335 |
|
✗ |
crba(model, data_ref, q, Convention::WORLD); |
| 336 |
|
✗ |
data_ref.M.triangularView<Eigen::StrictlyLower>() = |
| 337 |
|
✗ |
data_ref.M.transpose().triangularView<Eigen::StrictlyLower>(); |
| 338 |
|
✗ |
crba(model, data_ref_plus, q_plus, Convention::WORLD); |
| 339 |
|
✗ |
data_ref_plus.M.triangularView<Eigen::StrictlyLower>() = |
| 340 |
|
✗ |
data_ref_plus.M.transpose().triangularView<Eigen::StrictlyLower>(); |
| 341 |
|
|
|
| 342 |
|
✗ |
Eigen::MatrixXd dM_ref = (data_ref_plus.M - data_ref.M) / alpha; |
| 343 |
|
✗ |
BOOST_CHECK(dM.isApprox(dM_ref, sqrt(alpha))); |
| 344 |
|
|
} |
| 345 |
|
|
} |
| 346 |
|
|
|
| 347 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
| 348 |
|
|
|