| Line |
Branch |
Exec |
Source |
| 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 |
|
✗ |
BOOST_AUTO_TEST_CASE(build_model_sample_humanoid_random) |
| 18 |
|
|
{ |
| 19 |
|
✗ |
pinocchio::Model model; |
| 20 |
|
✗ |
pinocchio::buildModels::humanoidRandom(model, true); |
| 21 |
|
|
|
| 22 |
|
✗ |
BOOST_CHECK(model.nq == 33); |
| 23 |
|
✗ |
BOOST_CHECK(model.nv == 32); |
| 24 |
|
|
|
| 25 |
|
✗ |
pinocchio::Model modelff; |
| 26 |
|
✗ |
pinocchio::buildModels::humanoidRandom(modelff, false); |
| 27 |
|
|
|
| 28 |
|
✗ |
BOOST_CHECK(modelff.nq == 32); |
| 29 |
|
✗ |
BOOST_CHECK(modelff.nv == 32); |
| 30 |
|
|
} |
| 31 |
|
|
|
| 32 |
|
✗ |
BOOST_AUTO_TEST_CASE(build_model_sample_manipulator) |
| 33 |
|
|
{ |
| 34 |
|
✗ |
pinocchio::Model model; |
| 35 |
|
✗ |
pinocchio::buildModels::manipulator(model); |
| 36 |
|
|
|
| 37 |
|
✗ |
BOOST_CHECK(model.nq == 6); |
| 38 |
|
✗ |
BOOST_CHECK(model.nv == 6); |
| 39 |
|
|
|
| 40 |
|
|
#ifdef PINOCCHIO_WITH_HPP_FCL |
| 41 |
|
✗ |
pinocchio::Data data(model); |
| 42 |
|
✗ |
pinocchio::GeometryModel geom; |
| 43 |
|
✗ |
pinocchio::buildModels::manipulatorGeometries(model, geom); |
| 44 |
|
|
#endif |
| 45 |
|
|
} |
| 46 |
|
|
|
| 47 |
|
✗ |
BOOST_AUTO_TEST_CASE(build_model_sample_humanoid) |
| 48 |
|
|
{ |
| 49 |
|
✗ |
pinocchio::Model model; |
| 50 |
|
✗ |
pinocchio::buildModels::humanoid(model); |
| 51 |
|
✗ |
pinocchio::Data data(model); |
| 52 |
|
|
|
| 53 |
|
✗ |
BOOST_CHECK(model.nq == 35); |
| 54 |
|
✗ |
BOOST_CHECK(model.nv == 34); |
| 55 |
|
|
|
| 56 |
|
|
#ifdef PINOCCHIO_WITH_HPP_FCL |
| 57 |
|
✗ |
pinocchio::GeometryModel geom; |
| 58 |
|
✗ |
pinocchio::buildModels::humanoidGeometries(model, geom); |
| 59 |
|
✗ |
pinocchio::GeometryData geomdata(geom); |
| 60 |
|
|
|
| 61 |
|
✗ |
Eigen::VectorXd q = pinocchio::neutral(model); |
| 62 |
|
✗ |
pinocchio::forwardKinematics(model, data, q); |
| 63 |
|
✗ |
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 |
|
|
} |
| 69 |
|
|
|
| 70 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
| 71 |
|
|
|