| Directory: | ./ |
|---|---|
| File: | unittest/sample-models.cpp |
| Date: | 2025-02-12 21:03:38 |
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| 1 | // | ||
| 2 | // Copyright (c) 2015-2018 CNRS | ||
| 3 | // | ||
| 4 | |||
| 5 | #include <iostream> | ||
| 6 | |||
| 7 | #include "pinocchio/multibody/model.hpp" | ||
| 8 | #include "pinocchio/algorithm/joint-configuration.hpp" | ||
| 9 | #include "pinocchio/algorithm/kinematics.hpp" | ||
| 10 | #include "pinocchio/algorithm/geometry.hpp" | ||
| 11 | #include "pinocchio/multibody/sample-models.hpp" | ||
| 12 | |||
| 13 | #include <boost/test/unit_test.hpp> | ||
| 14 | |||
| 15 | BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) | ||
| 16 | |||
| 17 |
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4 | BOOST_AUTO_TEST_CASE(build_model_sample_humanoid_random) |
| 18 | { | ||
| 19 |
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2 | pinocchio::Model model; |
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2 | pinocchio::buildModels::humanoidRandom(model, true); |
| 21 | |||
| 22 |
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2 | BOOST_CHECK(model.nq == 33); |
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2 | BOOST_CHECK(model.nv == 32); |
| 24 | |||
| 25 |
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2 | pinocchio::Model modelff; |
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2 | pinocchio::buildModels::humanoidRandom(modelff, false); |
| 27 | |||
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2 | BOOST_CHECK(modelff.nq == 32); |
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2 | BOOST_CHECK(modelff.nv == 32); |
| 30 | 2 | } | |
| 31 | |||
| 32 |
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4 | BOOST_AUTO_TEST_CASE(build_model_sample_manipulator) |
| 33 | { | ||
| 34 |
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2 | pinocchio::Model model; |
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2 | pinocchio::buildModels::manipulator(model); |
| 36 | |||
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2 | BOOST_CHECK(model.nq == 6); |
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2 | BOOST_CHECK(model.nv == 6); |
| 39 | |||
| 40 | #ifdef PINOCCHIO_WITH_HPP_FCL | ||
| 41 |
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2 | pinocchio::Data data(model); |
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2 | pinocchio::GeometryModel geom; |
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2 | pinocchio::buildModels::manipulatorGeometries(model, geom); |
| 44 | #endif | ||
| 45 | 2 | } | |
| 46 | |||
| 47 |
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4 | BOOST_AUTO_TEST_CASE(build_model_sample_humanoid) |
| 48 | { | ||
| 49 |
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2 | pinocchio::Model model; |
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2 | pinocchio::buildModels::humanoid(model); |
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2 | pinocchio::Data data(model); |
| 52 | |||
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2 | BOOST_CHECK(model.nq == 35); |
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2 | BOOST_CHECK(model.nv == 34); |
| 55 | |||
| 56 | #ifdef PINOCCHIO_WITH_HPP_FCL | ||
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2 | pinocchio::GeometryModel geom; |
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2 | pinocchio::buildModels::humanoidGeometries(model, geom); |
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2 | pinocchio::GeometryData geomdata(geom); |
| 60 | |||
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2 | Eigen::VectorXd q = pinocchio::neutral(model); |
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2 | pinocchio::forwardKinematics(model, data, q); |
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2 | pinocchio::updateGeometryPlacements(model, data, geom, geomdata, q); |
| 64 | #endif | ||
| 65 | |||
| 66 | /* We might want to check here the joint namings, and validate the | ||
| 67 | * direct geometry with respect to reference values. */ | ||
| 68 | 2 | } | |
| 69 | |||
| 70 | BOOST_AUTO_TEST_SUITE_END() | ||
| 71 |