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// |
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// Copyright (c) 2015-2021 CNRS INRIA |
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// |
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#include <iostream> |
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#include "pinocchio/spatial/force.hpp" |
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#include "pinocchio/spatial/motion.hpp" |
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#include "pinocchio/spatial/se3.hpp" |
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#include "pinocchio/spatial/inertia.hpp" |
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#include "pinocchio/spatial/act-on-set.hpp" |
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#include "pinocchio/spatial/explog.hpp" |
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#include "pinocchio/spatial/skew.hpp" |
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#include "pinocchio/spatial/cartesian-axis.hpp" |
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#include "pinocchio/spatial/spatial-axis.hpp" |
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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_SE3) |
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{ |
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using namespace pinocchio; |
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typedef SE3::HomogeneousMatrixType HomogeneousMatrixType; |
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typedef SE3::ActionMatrixType ActionMatrixType; |
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typedef SE3::Vector3 Vector3; |
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typedef Eigen::Matrix<double, 4, 1> Vector4; |
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const SE3 identity = SE3::Identity(); |
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typedef SE3::Quaternion Quaternion; |
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typedef SE3::Vector4 Vector4; |
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Quaternion quat(Vector4::Random().normalized()); |
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SE3 m_from_quat(quat, Vector3::Random()); |
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SE3 amb = SE3::Random(); |
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SE3 bmc = SE3::Random(); |
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SE3 amc = amb * bmc; |
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HomogeneousMatrixType aMb = amb; |
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HomogeneousMatrixType bMc = bmc; |
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// Test internal product |
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HomogeneousMatrixType aMc = amc; |
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BOOST_CHECK(aMc.isApprox(aMb * bMc)); |
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HomogeneousMatrixType bMa = amb.inverse(); |
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BOOST_CHECK(bMa.isApprox(aMb.inverse())); |
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// Test point action |
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Vector3 p = Vector3::Random(); |
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Vector4 p4; |
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p4.head(3) = p; |
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p4[3] = 1; |
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Vector3 Mp = (aMb * p4).head(3); |
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BOOST_CHECK(amb.act(p).isApprox(Mp)); |
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Vector3 Mip = (aMb.inverse() * p4).head(3); |
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BOOST_CHECK(amb.actInv(p).isApprox(Mip)); |
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// Test action matrix |
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ActionMatrixType aXb = amb; |
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ActionMatrixType bXc = bmc; |
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ActionMatrixType aXc = amc; |
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BOOST_CHECK(aXc.isApprox(aXb * bXc)); |
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ActionMatrixType bXa = amb.inverse(); |
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BOOST_CHECK(bXa.isApprox(aXb.inverse())); |
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ActionMatrixType X_identity = identity.toActionMatrix(); |
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BOOST_CHECK(X_identity.isIdentity()); |
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ActionMatrixType X_identity_inverse = identity.toActionMatrixInverse(); |
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BOOST_CHECK(X_identity_inverse.isIdentity()); |
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// Test dual action matrix |
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BOOST_CHECK(aXb.inverse().transpose().isApprox(amb.toDualActionMatrix())); |
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// Test isIdentity |
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BOOST_CHECK(identity.isIdentity()); |
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// Test isApprox |
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BOOST_CHECK(identity.isApprox(identity)); |
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// Test cast |
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typedef SE3Tpl<float> SE3f; |
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SE3f::Matrix3 rot_float(amb.rotation().cast<float>()); |
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SE3f amb_float = amb.cast<float>(); |
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BOOST_CHECK(amb_float.isApprox(amb.cast<float>())); |
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SE3f amb_float2(amb); |
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BOOST_CHECK(amb_float.isApprox(amb_float2)); |
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// Test actInv |
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const SE3 M = SE3::Random(); |
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const SE3 Minv = M.inverse(); |
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BOOST_CHECK(Minv.actInv(Minv).isIdentity()); |
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BOOST_CHECK(M.actInv(identity).isApprox(Minv)); |
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// Test normalization |
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{ |
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const double prec = Eigen::NumTraits<double>::dummy_precision(); |
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SE3 M(SE3::Random()); |
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M.rotation() += prec * SE3::Matrix3::Random(); |
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BOOST_CHECK(!M.isNormalized()); |
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SE3 M_normalized = M.normalized(); |
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BOOST_CHECK(M_normalized.isNormalized()); |
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M.normalize(); |
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BOOST_CHECK(M.isNormalized()); |
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} |
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} |
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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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typedef SE3::ActionMatrixType ActionMatrixType; |
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typedef Motion::Vector6 Vector6; |
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SE3 amb = SE3::Random(); |
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SE3 bmc = SE3::Random(); |
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SE3 amc = amb * bmc; |
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Motion bv = Motion::Random(); |
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Motion bv2 = Motion::Random(); |
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typedef MotionBase<Motion> Base; |
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Vector6 bv_vec = bv; |
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Vector6 bv2_vec = bv2; |
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// std::stringstream |
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std::stringstream ss; |
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ss << bv << std::endl; |
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BOOST_CHECK(!ss.str().empty()); |
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// Test .+. |
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Vector6 bvPbv2_vec = bv + bv2; |
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BOOST_CHECK(bvPbv2_vec.isApprox(bv_vec + bv2_vec)); |
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Motion bplus = static_cast<Base &>(bv) + static_cast<Base &>(bv2); |
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BOOST_CHECK((bv + bv2).isApprox(bplus)); |
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Motion v_not_zero(Vector6::Ones()); |
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BOOST_CHECK(!v_not_zero.isZero()); |
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Motion v_zero(Vector6::Zero()); |
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BOOST_CHECK(v_zero.isZero()); |
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// Test == and != |
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BOOST_CHECK(bv == bv); |
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BOOST_CHECK(!(bv != bv)); |
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// Test -. |
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Vector6 Mbv_vec = -bv; |
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BOOST_CHECK(Mbv_vec.isApprox(-bv_vec)); |
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// Test .+=. |
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Motion bv3 = bv; |
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bv3 += bv2; |
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BOOST_CHECK(bv3.toVector().isApprox(bv_vec + bv2_vec)); |
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// Test .=V6 |
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bv3 = bv2_vec; |
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BOOST_CHECK(bv3.toVector().isApprox(bv2_vec)); |
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// Test scalar*M6 |
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Motion twicebv(2. * bv); |
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BOOST_CHECK(twicebv.isApprox(Motion(2. * bv.toVector()))); |
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// Test M6*scalar |
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Motion bvtwice(bv * 2.); |
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BOOST_CHECK(bvtwice.isApprox(twicebv)); |
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// Test M6/scalar |
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Motion bvdividedbytwo(bvtwice / 2.); |
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BOOST_CHECK(bvdividedbytwo.isApprox(bv)); |
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// Test constructor from V6 |
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Motion bv4(bv2_vec); |
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BOOST_CHECK(bv4.toVector().isApprox(bv2_vec)); |
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// Test action |
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ActionMatrixType aXb = amb; |
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BOOST_CHECK(amb.act(bv).toVector().isApprox(aXb * bv_vec)); |
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// Test action inverse |
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ActionMatrixType bXc = bmc; |
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BOOST_CHECK(bmc.actInv(bv).toVector().isApprox(bXc.inverse() * bv_vec)); |
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// Test double action |
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Motion cv = Motion::Random(); |
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bv = bmc.act(cv); |
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BOOST_CHECK(amb.act(bv).toVector().isApprox(amc.act(cv).toVector())); |
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// Simple test for cross product vxv |
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Motion vxv = bv.cross(bv); |
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BOOST_CHECK_SMALL( |
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vxv.toVector().tail(3).norm(), |
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1e-3); // previously ensure that (vxv.toVector().tail(3).isMuchSmallerThan(1e-3)); |
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// Test Action Matrix |
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Motion v2xv = bv2.cross(bv); |
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Motion::ActionMatrixType actv2 = bv2.toActionMatrix(); |
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BOOST_CHECK(v2xv.toVector().isApprox(actv2 * bv.toVector())); |
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// Test Dual Action Matrix |
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Force f(bv.toVector()); |
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Force v2xf = bv2.cross(f); |
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Motion::ActionMatrixType dualactv2 = bv2.toDualActionMatrix(); |
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BOOST_CHECK(v2xf.toVector().isApprox(dualactv2 * f.toVector())); |
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BOOST_CHECK(dualactv2.isApprox(-actv2.transpose())); |
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// Simple test for cross product vxf |
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Force vxf = bv.cross(f); |
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BOOST_CHECK(vxf.linear().isApprox(bv.angular().cross(f.linear()))); |
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BOOST_CHECK_SMALL( |
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vxf.angular().norm(), |
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1e-3); // previously ensure that ( vxf.angular().isMuchSmallerThan(1e-3)); |
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// Test frame change for vxf |
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Motion av = Motion::Random(); |
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Force af = Force::Random(); |
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bv = amb.actInv(av); |
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Force bf = amb.actInv(af); |
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Force avxf = av.cross(af); |
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Force bvxf = bv.cross(bf); |
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BOOST_CHECK(avxf.toVector().isApprox(amb.act(bvxf).toVector())); |
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// Test frame change for vxv |
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av = Motion::Random(); |
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Motion aw = Motion::Random(); |
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bv = amb.actInv(av); |
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Motion bw = amb.actInv(aw); |
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Motion avxw = av.cross(aw); |
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Motion bvxw = bv.cross(bw); |
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BOOST_CHECK(avxw.toVector().isApprox(amb.act(bvxw).toVector())); |
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// Test isApprox |
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bv.toVector().setOnes(); |
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const double eps = 1e-6; |
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BOOST_CHECK(bv == bv); |
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BOOST_CHECK(bv.isApprox(bv)); |
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Motion bv_approx(bv); |
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bv_approx.linear()[0] += eps; |
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BOOST_CHECK(bv_approx.isApprox(bv, eps)); |
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// Test ref() method |
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{ |
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Motion a(Motion::Random()); |
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BOOST_CHECK(a.ref().isApprox(a)); |
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const Motion b(a); |
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BOOST_CHECK(b.isApprox(a.ref())); |
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} |
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// Test cast |
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{ |
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typedef MotionTpl<float> Motionf; |
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Motion a(Motion::Random()); |
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Motionf a_float = a.cast<float>(); |
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BOOST_CHECK(a_float.isApprox(a.cast<float>())); |
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Motionf a_float2(a); |
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BOOST_CHECK(a_float.isApprox(a_float2)); |
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} |
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} |
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BOOST_AUTO_TEST_CASE(test_motion_ref) |
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{ |
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using namespace pinocchio; |
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typedef Motion::Vector6 Vector6; |
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typedef MotionRef<Vector6> MotionV6; |
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Motion v_ref(Motion::Random()); |
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MotionV6 v(v_ref.toVector()); |
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BOOST_CHECK(v_ref.isApprox(v)); |
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MotionV6::MotionPlain v2(v * 2.); |
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Motion v2_ref(v_ref * 2.); |
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BOOST_CHECK(v2_ref.isApprox(v2)); |
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v2 = v_ref + v; |
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BOOST_CHECK(v2_ref.isApprox(v2)); |
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v = v2; |
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BOOST_CHECK(v2.isApprox(v)); |
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v2 = v - v; |
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BOOST_CHECK(v2.isApprox(Motion::Zero())); |
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SE3 M(SE3::Identity()); |
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v2 = M.act(v); |
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BOOST_CHECK(v2.isApprox(v)); |
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v2 = M.actInv(v); |
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BOOST_CHECK(v2.isApprox(v)); |
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Motion v3(Motion::Random()); |
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v_ref.setRandom(); |
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v = v_ref; |
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v2 = v.cross(v3); |
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v2_ref = v_ref.cross(v3); |
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BOOST_CHECK(v2.isApprox(v2_ref)); |
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v.setRandom(); |
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v.setZero(); |
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BOOST_CHECK(v.isApprox(Motion::Zero())); |
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// Test ref() method |
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{ |
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Vector6 v6(Vector6::Random()); |
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MotionV6 a(v6); |
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BOOST_CHECK(a.ref().isApprox(a)); |
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const Motion b(a); |
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BOOST_CHECK(b.isApprox(a.ref())); |
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} |
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} |
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BOOST_AUTO_TEST_CASE(test_motion_zero) |
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{ |
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using namespace pinocchio; |
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Motion v((MotionZero())); |
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BOOST_CHECK(v.toVector().isZero()); |
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BOOST_CHECK(MotionZero() == Motion::Zero()); |
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// SE3.act |
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SE3 m(SE3::Random()); |
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BOOST_CHECK(m.act(MotionZero()) == Motion::Zero()); |
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|
✗ |
BOOST_CHECK(m.actInv(MotionZero()) == Motion::Zero()); |
| 344 |
|
|
|
| 345 |
|
|
// Motion.cross |
| 346 |
|
✗ |
Motion v2(Motion::Random()); |
| 347 |
|
✗ |
BOOST_CHECK(v2.cross(MotionZero()) == Motion::Zero()); |
| 348 |
|
|
} |
| 349 |
|
|
|
| 350 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_Force) |
| 351 |
|
|
{ |
| 352 |
|
|
using namespace pinocchio; |
| 353 |
|
|
typedef SE3::ActionMatrixType ActionMatrixType; |
| 354 |
|
|
typedef Force::Vector6 Vector6; |
| 355 |
|
|
|
| 356 |
|
✗ |
SE3 amb = SE3::Random(); |
| 357 |
|
✗ |
SE3 bmc = SE3::Random(); |
| 358 |
|
✗ |
SE3 amc = amb * bmc; |
| 359 |
|
|
|
| 360 |
|
✗ |
Force bf = Force::Random(); |
| 361 |
|
✗ |
Force bf2 = Force::Random(); |
| 362 |
|
|
|
| 363 |
|
✗ |
Vector6 bf_vec = bf; |
| 364 |
|
✗ |
Vector6 bf2_vec = bf2; |
| 365 |
|
|
|
| 366 |
|
|
// std::stringstream |
| 367 |
|
✗ |
std::stringstream ss; |
| 368 |
|
✗ |
ss << bf << std::endl; |
| 369 |
|
✗ |
BOOST_CHECK(!ss.str().empty()); |
| 370 |
|
|
|
| 371 |
|
|
// Test .+. |
| 372 |
|
✗ |
Vector6 bfPbf2_vec = bf + bf2; |
| 373 |
|
✗ |
BOOST_CHECK(bfPbf2_vec.isApprox(bf_vec + bf2_vec)); |
| 374 |
|
|
|
| 375 |
|
|
// Test -. |
| 376 |
|
✗ |
Vector6 Mbf_vec = -bf; |
| 377 |
|
✗ |
BOOST_CHECK(Mbf_vec.isApprox(-bf_vec)); |
| 378 |
|
|
|
| 379 |
|
|
// Test .+=. |
| 380 |
|
✗ |
Force bf3 = bf; |
| 381 |
|
✗ |
bf3 += bf2; |
| 382 |
|
✗ |
BOOST_CHECK(bf3.toVector().isApprox(bf_vec + bf2_vec)); |
| 383 |
|
|
|
| 384 |
|
|
// Test .= V6 |
| 385 |
|
✗ |
bf3 = bf2_vec; |
| 386 |
|
✗ |
BOOST_CHECK(bf3.toVector().isApprox(bf2_vec)); |
| 387 |
|
|
|
| 388 |
|
|
// Test constructor from V6 |
| 389 |
|
✗ |
Force bf4(bf2_vec); |
| 390 |
|
✗ |
BOOST_CHECK(bf4.toVector().isApprox(bf2_vec)); |
| 391 |
|
|
|
| 392 |
|
|
// Test action |
| 393 |
|
✗ |
ActionMatrixType aXb = amb; |
| 394 |
|
✗ |
BOOST_CHECK(amb.act(bf).toVector().isApprox(aXb.inverse().transpose() * bf_vec)); |
| 395 |
|
|
|
| 396 |
|
|
// Test action inverse |
| 397 |
|
✗ |
ActionMatrixType bXc = bmc; |
| 398 |
|
✗ |
BOOST_CHECK(bmc.actInv(bf).toVector().isApprox(bXc.transpose() * bf_vec)); |
| 399 |
|
|
|
| 400 |
|
|
// Test double action |
| 401 |
|
✗ |
Force cf = Force::Random(); |
| 402 |
|
✗ |
bf = bmc.act(cf); |
| 403 |
|
✗ |
BOOST_CHECK(amb.act(bf).toVector().isApprox(amc.act(cf).toVector())); |
| 404 |
|
|
|
| 405 |
|
|
// Simple test for cross product |
| 406 |
|
|
// Force vxv = bf.cross(bf); |
| 407 |
|
|
// ensure that (vxv.toVector().isMuchSmallerThan(bf.toVector())); |
| 408 |
|
|
|
| 409 |
|
✗ |
Force f_not_zero(Vector6::Ones()); |
| 410 |
|
✗ |
BOOST_CHECK(!f_not_zero.isZero()); |
| 411 |
|
|
|
| 412 |
|
✗ |
Force f_zero(Vector6::Zero()); |
| 413 |
|
✗ |
BOOST_CHECK(f_zero.isZero()); |
| 414 |
|
|
|
| 415 |
|
|
// Test isApprox |
| 416 |
|
|
|
| 417 |
|
✗ |
BOOST_CHECK(bf == bf); |
| 418 |
|
✗ |
bf.setRandom(); |
| 419 |
|
✗ |
bf2.setZero(); |
| 420 |
|
✗ |
BOOST_CHECK(bf == bf); |
| 421 |
|
✗ |
BOOST_CHECK(bf != bf2); |
| 422 |
|
✗ |
BOOST_CHECK(bf.isApprox(bf)); |
| 423 |
|
✗ |
BOOST_CHECK(!bf.isApprox(bf2)); |
| 424 |
|
|
|
| 425 |
|
✗ |
const double eps = 1e-6; |
| 426 |
|
✗ |
Force bf_approx(bf); |
| 427 |
|
✗ |
bf_approx.linear()[0] += 2. * eps; |
| 428 |
|
✗ |
BOOST_CHECK(!bf_approx.isApprox(bf, eps)); |
| 429 |
|
|
|
| 430 |
|
|
// Test ref() method |
| 431 |
|
|
{ |
| 432 |
|
✗ |
Force a(Force::Random()); |
| 433 |
|
✗ |
BOOST_CHECK(a.ref().isApprox(a)); |
| 434 |
|
|
|
| 435 |
|
✗ |
const Force b(a); |
| 436 |
|
✗ |
BOOST_CHECK(b.isApprox(a.ref())); |
| 437 |
|
|
} |
| 438 |
|
|
|
| 439 |
|
|
// Test cast |
| 440 |
|
|
{ |
| 441 |
|
|
typedef ForceTpl<float> Forcef; |
| 442 |
|
✗ |
Force a(Force::Random()); |
| 443 |
|
✗ |
Forcef a_float = a.cast<float>(); |
| 444 |
|
✗ |
BOOST_CHECK(a_float.isApprox(a.cast<float>())); |
| 445 |
|
|
|
| 446 |
|
✗ |
Forcef a_float2(a); |
| 447 |
|
✗ |
BOOST_CHECK(a_float.isApprox(a_float2)); |
| 448 |
|
|
} |
| 449 |
|
|
|
| 450 |
|
|
// Test scalar multiplication |
| 451 |
|
✗ |
const double alpha = 1.5; |
| 452 |
|
✗ |
Force b(Force::Random()); |
| 453 |
|
✗ |
Force alpha_f = alpha * b; |
| 454 |
|
✗ |
Force f_alpha = b * alpha; |
| 455 |
|
|
|
| 456 |
|
✗ |
BOOST_CHECK(alpha_f == f_alpha); |
| 457 |
|
|
} |
| 458 |
|
|
|
| 459 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_force_ref) |
| 460 |
|
|
{ |
| 461 |
|
|
using namespace pinocchio; |
| 462 |
|
|
typedef Force::Vector6 Vector6; |
| 463 |
|
|
|
| 464 |
|
|
typedef ForceRef<Vector6> ForceV6; |
| 465 |
|
|
|
| 466 |
|
✗ |
Force f_ref(Force::Random()); |
| 467 |
|
✗ |
ForceV6 f(f_ref.toVector()); |
| 468 |
|
|
|
| 469 |
|
✗ |
BOOST_CHECK(f_ref.isApprox(f)); |
| 470 |
|
|
|
| 471 |
|
✗ |
ForceV6::ForcePlain f2(f * 2.); |
| 472 |
|
✗ |
Force f2_ref(f_ref * 2.); |
| 473 |
|
|
|
| 474 |
|
✗ |
BOOST_CHECK(f2_ref.isApprox(f2)); |
| 475 |
|
|
|
| 476 |
|
✗ |
f2 = f_ref + f; |
| 477 |
|
✗ |
BOOST_CHECK(f2_ref.isApprox(f2)); |
| 478 |
|
|
|
| 479 |
|
✗ |
f = f2; |
| 480 |
|
✗ |
BOOST_CHECK(f2.isApprox(f)); |
| 481 |
|
|
|
| 482 |
|
✗ |
f2 = f - f; |
| 483 |
|
✗ |
BOOST_CHECK(f2.isApprox(Force::Zero())); |
| 484 |
|
|
|
| 485 |
|
✗ |
SE3 M(SE3::Identity()); |
| 486 |
|
✗ |
f2 = M.act(f); |
| 487 |
|
✗ |
BOOST_CHECK(f2.isApprox(f)); |
| 488 |
|
|
|
| 489 |
|
✗ |
f2 = M.actInv(f); |
| 490 |
|
✗ |
BOOST_CHECK(f2.isApprox(f)); |
| 491 |
|
|
|
| 492 |
|
✗ |
Motion v(Motion::Random()); |
| 493 |
|
✗ |
f_ref.setRandom(); |
| 494 |
|
✗ |
f = f_ref; |
| 495 |
|
✗ |
f2 = v.cross(f); |
| 496 |
|
✗ |
f2_ref = v.cross(f_ref); |
| 497 |
|
|
|
| 498 |
|
✗ |
BOOST_CHECK(f2.isApprox(f2_ref)); |
| 499 |
|
|
|
| 500 |
|
✗ |
f.setRandom(); |
| 501 |
|
✗ |
f.setZero(); |
| 502 |
|
✗ |
BOOST_CHECK(f.isApprox(Force::Zero())); |
| 503 |
|
|
|
| 504 |
|
|
// Test ref() method |
| 505 |
|
|
{ |
| 506 |
|
✗ |
Vector6 v6(Vector6::Random()); |
| 507 |
|
✗ |
ForceV6 a(v6); |
| 508 |
|
✗ |
BOOST_CHECK(a.ref().isApprox(a)); |
| 509 |
|
|
|
| 510 |
|
✗ |
const Force b(a); |
| 511 |
|
✗ |
BOOST_CHECK(b.isApprox(a.ref())); |
| 512 |
|
|
} |
| 513 |
|
|
} |
| 514 |
|
|
|
| 515 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_Inertia) |
| 516 |
|
|
{ |
| 517 |
|
|
using namespace pinocchio; |
| 518 |
|
|
typedef Inertia::Matrix6 Matrix6; |
| 519 |
|
|
|
| 520 |
|
✗ |
Inertia aI = Inertia::Random(); |
| 521 |
|
✗ |
Matrix6 matI = aI; |
| 522 |
|
✗ |
BOOST_CHECK_EQUAL(matI(0, 0), aI.mass()); |
| 523 |
|
✗ |
BOOST_CHECK_EQUAL(matI(1, 1), aI.mass()); |
| 524 |
|
✗ |
BOOST_CHECK_EQUAL(matI(2, 2), aI.mass()); // 1,1 before unifying |
| 525 |
|
|
|
| 526 |
|
✗ |
BOOST_CHECK_SMALL( |
| 527 |
|
|
(matI - matI.transpose()).norm(), |
| 528 |
|
|
matI.norm()); // previously ensure that( (matI-matI.transpose()).isMuchSmallerThan(matI) ); |
| 529 |
|
✗ |
BOOST_CHECK_SMALL( |
| 530 |
|
|
(matI.topRightCorner<3, 3>() * aI.lever()).norm(), |
| 531 |
|
|
aI.lever().norm()); // previously ensure that( |
| 532 |
|
|
// (matI.topRightCorner<3,3>()*aI.lever()).isMuchSmallerThan(aI.lever()) ); |
| 533 |
|
|
|
| 534 |
|
✗ |
Inertia I1 = Inertia::Identity(); |
| 535 |
|
✗ |
BOOST_CHECK(I1.matrix().isApprox(Matrix6::Identity())); |
| 536 |
|
|
|
| 537 |
|
|
// Test motion-to-force map |
| 538 |
|
✗ |
Motion v = Motion::Random(); |
| 539 |
|
✗ |
Force f = I1 * v; |
| 540 |
|
✗ |
BOOST_CHECK(f.toVector().isApprox(v.toVector())); |
| 541 |
|
|
|
| 542 |
|
|
// Test Inertia group application |
| 543 |
|
✗ |
SE3 bma = SE3::Random(); |
| 544 |
|
✗ |
Inertia bI = bma.act(aI); |
| 545 |
|
✗ |
Matrix6 bXa = bma; |
| 546 |
|
✗ |
BOOST_CHECK((bma.rotation() * aI.inertia().matrix() * bma.rotation().transpose()) |
| 547 |
|
|
.isApprox(bI.inertia().matrix())); |
| 548 |
|
✗ |
BOOST_CHECK((bXa.transpose().inverse() * aI.matrix() * bXa.inverse()).isApprox(bI.matrix())); |
| 549 |
|
|
|
| 550 |
|
|
// Test inverse action |
| 551 |
|
✗ |
BOOST_CHECK((bXa.transpose() * bI.matrix() * bXa).isApprox(bma.actInv(bI).matrix())); |
| 552 |
|
|
|
| 553 |
|
|
// Test vxIv cross product |
| 554 |
|
✗ |
v = Motion::Random(); |
| 555 |
|
✗ |
f = aI * v; |
| 556 |
|
✗ |
Force vxf = v.cross(f); |
| 557 |
|
✗ |
Force vxIv = aI.vxiv(v); |
| 558 |
|
✗ |
BOOST_CHECK(vxf.toVector().isApprox(vxIv.toVector())); |
| 559 |
|
|
|
| 560 |
|
|
// Test operator+ |
| 561 |
|
✗ |
I1 = Inertia::Random(); |
| 562 |
|
✗ |
Inertia I2 = Inertia::Random(); |
| 563 |
|
✗ |
BOOST_CHECK((I1.matrix() + I2.matrix()).isApprox((I1 + I2).matrix())); |
| 564 |
|
|
|
| 565 |
|
|
// Test operator- |
| 566 |
|
|
{ |
| 567 |
|
✗ |
I1 = Inertia::Random(); |
| 568 |
|
✗ |
Inertia I2 = Inertia::Random(); |
| 569 |
|
✗ |
Inertia Isum = I1 + I2; |
| 570 |
|
✗ |
Inertia I1_other = Isum - I2; |
| 571 |
|
✗ |
BOOST_CHECK(I1_other.matrix().isApprox(I1.matrix())); |
| 572 |
|
|
} |
| 573 |
|
|
|
| 574 |
|
|
// Test operator += |
| 575 |
|
✗ |
Inertia I12 = I1; |
| 576 |
|
✗ |
I12 += I2; |
| 577 |
|
✗ |
BOOST_CHECK((I1.matrix() + I2.matrix()).isApprox(I12.matrix())); |
| 578 |
|
|
|
| 579 |
|
|
// Test operator -= |
| 580 |
|
|
{ |
| 581 |
|
✗ |
Inertia I2 = Inertia::Random(); |
| 582 |
|
✗ |
Inertia Isum = I1 + I2; |
| 583 |
|
|
|
| 584 |
|
✗ |
Inertia I1_other = Isum; |
| 585 |
|
✗ |
I1_other -= I2; |
| 586 |
|
✗ |
BOOST_CHECK((I1_other.matrix()).isApprox(I1.matrix())); |
| 587 |
|
|
} |
| 588 |
|
|
|
| 589 |
|
|
// Test operator vtiv |
| 590 |
|
✗ |
double kinetic_ref = v.toVector().transpose() * aI.matrix() * v.toVector(); |
| 591 |
|
✗ |
double kinetic = aI.vtiv(v); |
| 592 |
|
✗ |
BOOST_CHECK_SMALL(kinetic_ref - kinetic, 1e-12); |
| 593 |
|
|
|
| 594 |
|
|
// Test constructor (Matrix6) |
| 595 |
|
✗ |
Inertia I1_bis(I1.matrix()); |
| 596 |
|
✗ |
BOOST_CHECK(I1.matrix().isApprox(I1_bis.matrix())); |
| 597 |
|
|
|
| 598 |
|
|
// Test Inertia from ellipsoid |
| 599 |
|
✗ |
const double sphere_mass = 5.; |
| 600 |
|
✗ |
const double sphere_radius = 2.; |
| 601 |
|
✗ |
I1 = Inertia::FromSphere(sphere_mass, sphere_radius); |
| 602 |
|
✗ |
const double L_sphere = 2. / 5. * sphere_mass * sphere_radius * sphere_radius; |
| 603 |
|
✗ |
BOOST_CHECK_SMALL(I1.mass() - sphere_mass, 1e-12); |
| 604 |
|
✗ |
BOOST_CHECK(I1.lever().isZero()); |
| 605 |
|
✗ |
BOOST_CHECK( |
| 606 |
|
|
I1.inertia().matrix().isApprox(Symmetric3(L_sphere, 0., L_sphere, 0., 0., L_sphere).matrix())); |
| 607 |
|
|
|
| 608 |
|
|
// Test Inertia from ellipsoid |
| 609 |
|
✗ |
I1 = Inertia::FromEllipsoid(2., 3., 4., 5.); |
| 610 |
|
✗ |
BOOST_CHECK_SMALL(I1.mass() - 2, 1e-12); |
| 611 |
|
✗ |
BOOST_CHECK_SMALL(I1.lever().norm(), 1e-12); |
| 612 |
|
✗ |
BOOST_CHECK(I1.inertia().matrix().isApprox(Symmetric3(16.4, 0., 13.6, 0., 0., 10.).matrix())); |
| 613 |
|
|
|
| 614 |
|
|
// Test Inertia from Cylinder |
| 615 |
|
✗ |
I1 = Inertia::FromCylinder(2., 4., 6.); |
| 616 |
|
✗ |
BOOST_CHECK_SMALL(I1.mass() - 2, 1e-12); |
| 617 |
|
✗ |
BOOST_CHECK_SMALL(I1.lever().norm(), 1e-12); |
| 618 |
|
✗ |
BOOST_CHECK(I1.inertia().matrix().isApprox(Symmetric3(14., 0., 14., 0., 0., 16.).matrix())); |
| 619 |
|
|
|
| 620 |
|
|
// Test Inertia from Box |
| 621 |
|
✗ |
I1 = Inertia::FromBox(2., 6., 12., 18.); |
| 622 |
|
✗ |
BOOST_CHECK_SMALL(I1.mass() - 2, 1e-12); |
| 623 |
|
✗ |
BOOST_CHECK_SMALL(I1.lever().norm(), 1e-12); |
| 624 |
|
✗ |
BOOST_CHECK(I1.inertia().matrix().isApprox(Symmetric3(78., 0., 60., 0., 0., 30.).matrix())); |
| 625 |
|
|
|
| 626 |
|
|
// Test Inertia From Capsule |
| 627 |
|
✗ |
I1 = Inertia::FromCapsule(1., 2., 3); |
| 628 |
|
✗ |
BOOST_CHECK_SMALL(I1.mass() - 1, 1e-12); |
| 629 |
|
✗ |
BOOST_CHECK_SMALL(I1.lever().norm(), 1e-12); |
| 630 |
|
✗ |
BOOST_CHECK(I1.inertia().matrix().isApprox( |
| 631 |
|
|
Symmetric3(3.79705882, 0., 3.79705882, 0., 0., 1.81176471).matrix(), |
| 632 |
|
|
1e-5)); // Computed with hppfcl::Capsule |
| 633 |
|
|
|
| 634 |
|
|
// Copy operator |
| 635 |
|
✗ |
Inertia aI_copy(aI); |
| 636 |
|
✗ |
BOOST_CHECK(aI_copy == aI); |
| 637 |
|
|
|
| 638 |
|
|
// Test isZero |
| 639 |
|
✗ |
Inertia I_not_zero = Inertia::Identity(); |
| 640 |
|
✗ |
BOOST_CHECK(!I_not_zero.isZero()); |
| 641 |
|
|
|
| 642 |
|
✗ |
Inertia I_zero = Inertia::Zero(); |
| 643 |
|
✗ |
BOOST_CHECK(I_zero.isZero()); |
| 644 |
|
|
|
| 645 |
|
|
// Test isApprox |
| 646 |
|
✗ |
const double eps = 1e-6; |
| 647 |
|
✗ |
BOOST_CHECK(aI == aI); |
| 648 |
|
✗ |
BOOST_CHECK(aI.isApprox(aI)); |
| 649 |
|
✗ |
Inertia aI_approx(aI); |
| 650 |
|
✗ |
aI_approx.mass() += eps / 2.; |
| 651 |
|
✗ |
BOOST_CHECK(aI_approx.isApprox(aI, eps)); |
| 652 |
|
|
|
| 653 |
|
|
// Test Variation |
| 654 |
|
✗ |
Inertia::Matrix6 aIvariation = aI.variation(v); |
| 655 |
|
|
|
| 656 |
|
✗ |
Motion::ActionMatrixType vAction = v.toActionMatrix(); |
| 657 |
|
✗ |
Motion::ActionMatrixType vDualAction = v.toDualActionMatrix(); |
| 658 |
|
|
|
| 659 |
|
✗ |
Inertia::Matrix6 aImatrix = aI.matrix(); |
| 660 |
|
✗ |
Inertia::Matrix6 aIvariation_ref = vDualAction * aImatrix - aImatrix * vAction; |
| 661 |
|
|
|
| 662 |
|
✗ |
BOOST_CHECK(aIvariation.isApprox(aIvariation_ref)); |
| 663 |
|
✗ |
BOOST_CHECK(vxIv.isApprox(Force(aIvariation * v.toVector()))); |
| 664 |
|
|
|
| 665 |
|
|
// Test vxI operator |
| 666 |
|
|
{ |
| 667 |
|
|
typedef Inertia::Matrix6 Matrix6; |
| 668 |
|
✗ |
Inertia I(Inertia::Random()); |
| 669 |
|
✗ |
Motion v(Motion::Random()); |
| 670 |
|
|
|
| 671 |
|
✗ |
const Matrix6 M_ref(v.toDualActionMatrix() * I.matrix()); |
| 672 |
|
✗ |
Matrix6 M; |
| 673 |
|
✗ |
Inertia::vxi(v, I, M); |
| 674 |
|
|
|
| 675 |
|
✗ |
BOOST_CHECK(M.isApprox(M_ref)); |
| 676 |
|
✗ |
BOOST_CHECK(I.vxi(v).isApprox(M_ref)); |
| 677 |
|
|
} |
| 678 |
|
|
|
| 679 |
|
|
// Test Ivx operator |
| 680 |
|
|
{ |
| 681 |
|
|
typedef Inertia::Matrix6 Matrix6; |
| 682 |
|
✗ |
Inertia I(Inertia::Random()); |
| 683 |
|
✗ |
Motion v(Motion::Random()); |
| 684 |
|
|
|
| 685 |
|
✗ |
const Matrix6 M_ref(I.matrix() * v.toActionMatrix()); |
| 686 |
|
✗ |
Matrix6 M; |
| 687 |
|
✗ |
Inertia::ivx(v, I, M); |
| 688 |
|
|
|
| 689 |
|
✗ |
BOOST_CHECK(M.isApprox(M_ref)); |
| 690 |
|
✗ |
BOOST_CHECK(I.ivx(v).isApprox(M_ref)); |
| 691 |
|
|
} |
| 692 |
|
|
|
| 693 |
|
|
// Test variation against vxI - Ivx operator |
| 694 |
|
|
{ |
| 695 |
|
|
typedef Inertia::Matrix6 Matrix6; |
| 696 |
|
✗ |
Inertia I(Inertia::Random()); |
| 697 |
|
✗ |
Motion v(Motion::Random()); |
| 698 |
|
|
|
| 699 |
|
✗ |
Matrix6 Ivariation = I.variation(v); |
| 700 |
|
|
|
| 701 |
|
✗ |
Matrix6 M1; |
| 702 |
|
✗ |
Inertia::vxi(v, I, M1); |
| 703 |
|
✗ |
Matrix6 M2; |
| 704 |
|
✗ |
Inertia::ivx(v, I, M2); |
| 705 |
|
✗ |
Matrix6 M3(M1 - M2); |
| 706 |
|
|
|
| 707 |
|
✗ |
BOOST_CHECK(M3.isApprox(Ivariation)); |
| 708 |
|
|
} |
| 709 |
|
|
|
| 710 |
|
|
// Test inverse |
| 711 |
|
|
{ |
| 712 |
|
✗ |
Inertia I(Inertia::Random()); |
| 713 |
|
✗ |
Inertia::Matrix6 I_inv = I.inverse(); |
| 714 |
|
|
|
| 715 |
|
✗ |
BOOST_CHECK(I_inv.isApprox(I.matrix().inverse())); |
| 716 |
|
|
} |
| 717 |
|
|
|
| 718 |
|
|
// Test dynamic parameters |
| 719 |
|
|
{ |
| 720 |
|
✗ |
Inertia I(Inertia::Random()); |
| 721 |
|
|
|
| 722 |
|
✗ |
Inertia::Vector10 v = I.toDynamicParameters(); |
| 723 |
|
|
|
| 724 |
|
✗ |
BOOST_CHECK_CLOSE(v[0], I.mass(), 1e-12); |
| 725 |
|
|
|
| 726 |
|
✗ |
BOOST_CHECK(v.segment<3>(1).isApprox(I.mass() * I.lever())); |
| 727 |
|
|
|
| 728 |
|
✗ |
Eigen::Matrix3d I_o = I.inertia() + I.mass() * skew(I.lever()).transpose() * skew(I.lever()); |
| 729 |
|
✗ |
Eigen::Matrix3d I_ov; |
| 730 |
|
✗ |
I_ov << v[4], v[5], v[7], v[5], v[6], v[8], v[7], v[8], v[9]; |
| 731 |
|
|
|
| 732 |
|
✗ |
BOOST_CHECK(I_o.isApprox(I_ov)); |
| 733 |
|
|
|
| 734 |
|
✗ |
Inertia I2 = Inertia::FromDynamicParameters(v); |
| 735 |
|
✗ |
BOOST_CHECK(I2.isApprox(I)); |
| 736 |
|
|
} |
| 737 |
|
|
|
| 738 |
|
|
// Test disp |
| 739 |
|
✗ |
std::cout << aI << std::endl; |
| 740 |
|
|
} |
| 741 |
|
|
|
| 742 |
|
✗ |
BOOST_AUTO_TEST_CASE(cast_inertia) |
| 743 |
|
|
{ |
| 744 |
|
|
using namespace pinocchio; |
| 745 |
|
✗ |
Inertia Y(Inertia::Random()); |
| 746 |
|
|
|
| 747 |
|
|
typedef InertiaTpl<long double> Inertiald; |
| 748 |
|
|
|
| 749 |
|
✗ |
BOOST_CHECK(Y.cast<double>() == Y); |
| 750 |
|
✗ |
BOOST_CHECK(Y.cast<long double>().cast<double>() == Y); |
| 751 |
|
|
|
| 752 |
|
✗ |
Inertiald Y2(Y); |
| 753 |
|
✗ |
BOOST_CHECK(Y2.isApprox(Y.cast<long double>())); |
| 754 |
|
|
} |
| 755 |
|
|
|
| 756 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_ActOnSet) |
| 757 |
|
|
{ |
| 758 |
|
|
using namespace pinocchio; |
| 759 |
|
✗ |
const int N = 20; |
| 760 |
|
|
typedef Eigen::Matrix<double, 6, N> Matrix6N; |
| 761 |
|
✗ |
SE3 jMi = SE3::Random(); |
| 762 |
|
✗ |
Motion v = Motion::Random(); |
| 763 |
|
|
|
| 764 |
|
|
// Forcet SET |
| 765 |
|
|
PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH |
| 766 |
|
|
PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED |
| 767 |
|
✗ |
Matrix6N iF = Matrix6N::Random(), jF, jFinv, jF_ref, jFinv_ref; |
| 768 |
|
|
|
| 769 |
|
|
// forceSet::se3Action |
| 770 |
|
✗ |
forceSet::se3Action(jMi, iF, jF); |
| 771 |
|
✗ |
for (int k = 0; k < N; ++k) |
| 772 |
|
✗ |
BOOST_CHECK(jMi.act(Force(iF.col(k))).toVector().isApprox(jF.col(k))); |
| 773 |
|
|
|
| 774 |
|
✗ |
jF_ref = jMi.toDualActionMatrix() * iF; |
| 775 |
|
✗ |
BOOST_CHECK(jF_ref.isApprox(jF)); |
| 776 |
|
|
|
| 777 |
|
✗ |
forceSet::se3ActionInverse(jMi.inverse(), iF, jFinv); |
| 778 |
|
✗ |
BOOST_CHECK(jFinv.isApprox(jF)); |
| 779 |
|
|
PINOCCHIO_COMPILER_DIAGNOSTIC_POP |
| 780 |
|
|
|
| 781 |
|
✗ |
Matrix6N iF2 = Matrix6N::Random(); |
| 782 |
|
✗ |
jF_ref += jMi.toDualActionMatrix() * iF2; |
| 783 |
|
|
|
| 784 |
|
✗ |
forceSet::se3Action<ADDTO>(jMi, iF2, jF); |
| 785 |
|
✗ |
BOOST_CHECK(jF.isApprox(jF_ref)); |
| 786 |
|
|
|
| 787 |
|
✗ |
Matrix6N iF3 = Matrix6N::Random(); |
| 788 |
|
✗ |
jF_ref -= jMi.toDualActionMatrix() * iF3; |
| 789 |
|
|
|
| 790 |
|
✗ |
forceSet::se3Action<RMTO>(jMi, iF3, jF); |
| 791 |
|
✗ |
BOOST_CHECK(jF.isApprox(jF_ref)); |
| 792 |
|
|
|
| 793 |
|
|
// forceSet::se3ActionInverse |
| 794 |
|
✗ |
forceSet::se3ActionInverse(jMi, iF, jFinv); |
| 795 |
|
✗ |
jFinv_ref = jMi.inverse().toDualActionMatrix() * iF; |
| 796 |
|
✗ |
BOOST_CHECK(jFinv_ref.isApprox(jFinv)); |
| 797 |
|
|
|
| 798 |
|
✗ |
jFinv_ref += jMi.inverse().toDualActionMatrix() * iF2; |
| 799 |
|
✗ |
forceSet::se3ActionInverse<ADDTO>(jMi, iF2, jFinv); |
| 800 |
|
✗ |
BOOST_CHECK(jFinv.isApprox(jFinv_ref)); |
| 801 |
|
|
|
| 802 |
|
✗ |
jFinv_ref -= jMi.inverse().toDualActionMatrix() * iF3; |
| 803 |
|
✗ |
forceSet::se3ActionInverse<RMTO>(jMi, iF3, jFinv); |
| 804 |
|
✗ |
BOOST_CHECK(jFinv.isApprox(jFinv_ref)); |
| 805 |
|
|
|
| 806 |
|
|
// forceSet::motionAction |
| 807 |
|
✗ |
forceSet::motionAction(v, iF, jF); |
| 808 |
|
✗ |
for (int k = 0; k < N; ++k) |
| 809 |
|
✗ |
BOOST_CHECK(v.cross(Force(iF.col(k))).toVector().isApprox(jF.col(k))); |
| 810 |
|
|
|
| 811 |
|
✗ |
jF_ref = v.toDualActionMatrix() * iF; |
| 812 |
|
✗ |
BOOST_CHECK(jF.isApprox(jF_ref)); |
| 813 |
|
|
|
| 814 |
|
✗ |
jF_ref += v.toDualActionMatrix() * iF2; |
| 815 |
|
✗ |
forceSet::motionAction<ADDTO>(v, iF2, jF); |
| 816 |
|
✗ |
BOOST_CHECK(jF.isApprox(jF_ref)); |
| 817 |
|
|
|
| 818 |
|
✗ |
jF_ref -= v.toDualActionMatrix() * iF3; |
| 819 |
|
✗ |
forceSet::motionAction<RMTO>(v, iF3, jF); |
| 820 |
|
✗ |
BOOST_CHECK(jF.isApprox(jF_ref)); |
| 821 |
|
|
|
| 822 |
|
|
// Motion SET |
| 823 |
|
|
PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH |
| 824 |
|
|
PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED |
| 825 |
|
✗ |
Matrix6N iV = Matrix6N::Random(), jV, jV_ref, jVinv, jVinv_ref; |
| 826 |
|
|
|
| 827 |
|
|
// motionSet::se3Action |
| 828 |
|
✗ |
motionSet::se3Action(jMi, iV, jV); |
| 829 |
|
✗ |
for (int k = 0; k < N; ++k) |
| 830 |
|
✗ |
BOOST_CHECK(jMi.act(Motion(iV.col(k))).toVector().isApprox(jV.col(k))); |
| 831 |
|
|
|
| 832 |
|
✗ |
jV_ref = jMi.toActionMatrix() * iV; |
| 833 |
|
✗ |
BOOST_CHECK(jV.isApprox(jV_ref)); |
| 834 |
|
|
|
| 835 |
|
✗ |
motionSet::se3ActionInverse(jMi.inverse(), iV, jVinv); |
| 836 |
|
✗ |
BOOST_CHECK(jVinv.isApprox(jV)); |
| 837 |
|
|
PINOCCHIO_COMPILER_DIAGNOSTIC_POP |
| 838 |
|
|
|
| 839 |
|
✗ |
Matrix6N iV2 = Matrix6N::Random(); |
| 840 |
|
✗ |
jV_ref += jMi.toActionMatrix() * iV2; |
| 841 |
|
✗ |
motionSet::se3Action<ADDTO>(jMi, iV2, jV); |
| 842 |
|
✗ |
BOOST_CHECK(jV.isApprox(jV_ref)); |
| 843 |
|
|
|
| 844 |
|
✗ |
Matrix6N iV3 = Matrix6N::Random(); |
| 845 |
|
✗ |
jV_ref -= jMi.toActionMatrix() * iV3; |
| 846 |
|
✗ |
motionSet::se3Action<RMTO>(jMi, iV3, jV); |
| 847 |
|
✗ |
BOOST_CHECK(jV.isApprox(jV_ref)); |
| 848 |
|
|
|
| 849 |
|
|
// motionSet::se3ActionInverse |
| 850 |
|
✗ |
motionSet::se3ActionInverse(jMi, iV, jVinv); |
| 851 |
|
✗ |
jVinv_ref = jMi.inverse().toActionMatrix() * iV; |
| 852 |
|
✗ |
BOOST_CHECK(jVinv.isApprox(jVinv_ref)); |
| 853 |
|
|
|
| 854 |
|
✗ |
jVinv_ref += jMi.inverse().toActionMatrix() * iV2; |
| 855 |
|
✗ |
motionSet::se3ActionInverse<ADDTO>(jMi, iV2, jVinv); |
| 856 |
|
✗ |
BOOST_CHECK(jVinv.isApprox(jVinv_ref)); |
| 857 |
|
|
|
| 858 |
|
✗ |
jVinv_ref -= jMi.inverse().toActionMatrix() * iV3; |
| 859 |
|
✗ |
motionSet::se3ActionInverse<RMTO>(jMi, iV3, jVinv); |
| 860 |
|
✗ |
BOOST_CHECK(jVinv.isApprox(jVinv_ref)); |
| 861 |
|
|
|
| 862 |
|
|
// motionSet::motionAction |
| 863 |
|
✗ |
motionSet::motionAction(v, iV, jV); |
| 864 |
|
✗ |
for (int k = 0; k < N; ++k) |
| 865 |
|
✗ |
BOOST_CHECK(v.cross(Motion(iV.col(k))).toVector().isApprox(jV.col(k))); |
| 866 |
|
|
|
| 867 |
|
✗ |
jV_ref = v.toActionMatrix() * iV; |
| 868 |
|
✗ |
BOOST_CHECK(jV.isApprox(jV_ref)); |
| 869 |
|
|
|
| 870 |
|
✗ |
jV_ref += v.toActionMatrix() * iV2; |
| 871 |
|
✗ |
motionSet::motionAction<ADDTO>(v, iV2, jV); |
| 872 |
|
✗ |
BOOST_CHECK(jV.isApprox(jV_ref)); |
| 873 |
|
|
|
| 874 |
|
✗ |
jV_ref -= v.toActionMatrix() * iV3; |
| 875 |
|
✗ |
motionSet::motionAction<RMTO>(v, iV3, jV); |
| 876 |
|
✗ |
BOOST_CHECK(jV.isApprox(jV_ref)); |
| 877 |
|
|
|
| 878 |
|
|
// motionSet::inertiaAction |
| 879 |
|
✗ |
const Inertia I(Inertia::Random()); |
| 880 |
|
✗ |
motionSet::inertiaAction(I, iV, jV); |
| 881 |
|
✗ |
for (int k = 0; k < N; ++k) |
| 882 |
|
✗ |
BOOST_CHECK((I * (Motion(iV.col(k)))).toVector().isApprox(jV.col(k))); |
| 883 |
|
|
|
| 884 |
|
✗ |
jV_ref = I.matrix() * iV; |
| 885 |
|
✗ |
BOOST_CHECK(jV.isApprox(jV_ref)); |
| 886 |
|
|
|
| 887 |
|
✗ |
jV_ref += I.matrix() * iV2; |
| 888 |
|
✗ |
motionSet::inertiaAction<ADDTO>(I, iV2, jV); |
| 889 |
|
✗ |
BOOST_CHECK(jV.isApprox(jV_ref)); |
| 890 |
|
|
|
| 891 |
|
✗ |
jV_ref -= I.matrix() * iV3; |
| 892 |
|
✗ |
motionSet::inertiaAction<RMTO>(I, iV3, jV); |
| 893 |
|
✗ |
BOOST_CHECK(jV.isApprox(jV_ref)); |
| 894 |
|
|
|
| 895 |
|
|
// motionSet::act |
| 896 |
|
✗ |
Force f = Force::Random(); |
| 897 |
|
✗ |
motionSet::act(iV, f, jF); |
| 898 |
|
✗ |
for (int k = 0; k < N; ++k) |
| 899 |
|
✗ |
BOOST_CHECK(Motion(iV.col(k)).cross(f).toVector().isApprox(jF.col(k))); |
| 900 |
|
|
|
| 901 |
|
✗ |
for (int k = 0; k < N; ++k) |
| 902 |
|
✗ |
jF_ref.col(k) = Force(Motion(iV.col(k)).cross(f)).toVector(); |
| 903 |
|
✗ |
BOOST_CHECK(jF.isApprox(jF_ref)); |
| 904 |
|
|
|
| 905 |
|
✗ |
for (int k = 0; k < N; ++k) |
| 906 |
|
✗ |
jF_ref.col(k) += Force(Motion(iV2.col(k)).cross(f)).toVector(); |
| 907 |
|
✗ |
motionSet::act<ADDTO>(iV2, f, jF); |
| 908 |
|
✗ |
BOOST_CHECK(jF.isApprox(jF_ref)); |
| 909 |
|
|
|
| 910 |
|
✗ |
for (int k = 0; k < N; ++k) |
| 911 |
|
✗ |
jF_ref.col(k) -= Force(Motion(iV3.col(k)).cross(f)).toVector(); |
| 912 |
|
✗ |
motionSet::act<RMTO>(iV3, f, jF); |
| 913 |
|
✗ |
BOOST_CHECK(jF.isApprox(jF_ref)); |
| 914 |
|
|
} |
| 915 |
|
|
|
| 916 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_skew) |
| 917 |
|
|
{ |
| 918 |
|
|
using namespace pinocchio; |
| 919 |
|
|
typedef SE3::Vector3 Vector3; |
| 920 |
|
|
typedef Motion::Vector6 Vector6; |
| 921 |
|
|
|
| 922 |
|
✗ |
Vector3 v3(Vector3::Random()); |
| 923 |
|
✗ |
Vector6 v6(Vector6::Random()); |
| 924 |
|
|
|
| 925 |
|
✗ |
Vector3 res1 = unSkew(skew(v3)); |
| 926 |
|
✗ |
BOOST_CHECK(res1.isApprox(v3)); |
| 927 |
|
|
|
| 928 |
|
✗ |
Vector3 res2 = unSkew(skew(v6.head<3>())); |
| 929 |
|
✗ |
BOOST_CHECK(res2.isApprox(v6.head<3>())); |
| 930 |
|
|
|
| 931 |
|
✗ |
Vector3 res3 = skew(v3) * v3; |
| 932 |
|
✗ |
BOOST_CHECK(res3.isZero()); |
| 933 |
|
|
|
| 934 |
|
✗ |
Vector3 rhs(Vector3::Random()); |
| 935 |
|
✗ |
Vector3 res41 = skew(v3) * rhs; |
| 936 |
|
✗ |
Vector3 res42 = v3.cross(rhs); |
| 937 |
|
|
|
| 938 |
|
✗ |
BOOST_CHECK(res41.isApprox(res42)); |
| 939 |
|
|
} |
| 940 |
|
|
|
| 941 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_addSkew) |
| 942 |
|
|
{ |
| 943 |
|
|
using namespace pinocchio; |
| 944 |
|
|
typedef SE3::Vector3 Vector3; |
| 945 |
|
|
typedef SE3::Matrix3 Matrix3; |
| 946 |
|
|
|
| 947 |
|
✗ |
Vector3 v(Vector3::Random()); |
| 948 |
|
✗ |
Matrix3 M(Matrix3::Random()); |
| 949 |
|
✗ |
Matrix3 Mcopy(M); |
| 950 |
|
|
|
| 951 |
|
✗ |
addSkew(v, M); |
| 952 |
|
✗ |
Matrix3 Mref = Mcopy + skew(v); |
| 953 |
|
✗ |
BOOST_CHECK(M.isApprox(Mref)); |
| 954 |
|
|
|
| 955 |
|
✗ |
Mref += skew(-v); |
| 956 |
|
✗ |
addSkew(-v, M); |
| 957 |
|
✗ |
BOOST_CHECK(M.isApprox(Mcopy)); |
| 958 |
|
|
|
| 959 |
|
✗ |
M.setZero(); |
| 960 |
|
✗ |
addSkew(v, M); |
| 961 |
|
✗ |
BOOST_CHECK(M.isApprox(skew(v))); |
| 962 |
|
|
} |
| 963 |
|
|
|
| 964 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_skew_square) |
| 965 |
|
|
{ |
| 966 |
|
|
using namespace pinocchio; |
| 967 |
|
|
typedef SE3::Vector3 Vector3; |
| 968 |
|
|
typedef SE3::Matrix3 Matrix3; |
| 969 |
|
|
|
| 970 |
|
✗ |
Vector3 u(Vector3::Random()); |
| 971 |
|
✗ |
Vector3 v(Vector3::Random()); |
| 972 |
|
|
|
| 973 |
|
✗ |
Matrix3 ref = skew(u) * skew(v); |
| 974 |
|
|
|
| 975 |
|
✗ |
Matrix3 res = skewSquare(u, v); |
| 976 |
|
|
|
| 977 |
|
✗ |
BOOST_CHECK(res.isApprox(ref)); |
| 978 |
|
|
} |
| 979 |
|
|
|
| 980 |
|
|
template<int axis> |
| 981 |
|
|
struct test_scalar_multiplication_cartesian_axis |
| 982 |
|
|
{ |
| 983 |
|
|
typedef pinocchio::CartesianAxis<axis> Axis; |
| 984 |
|
|
typedef double Scalar; |
| 985 |
|
|
typedef Eigen::Matrix<Scalar, 3, 1> Vector3; |
| 986 |
|
|
|
| 987 |
|
✗ |
static void run() |
| 988 |
|
|
{ |
| 989 |
|
✗ |
const Scalar alpha = static_cast<Scalar>(rand()) / static_cast<Scalar>(RAND_MAX); |
| 990 |
|
✗ |
const Vector3 r1 = Axis() * alpha; |
| 991 |
|
✗ |
const Vector3 r2 = alpha * Axis(); |
| 992 |
|
|
|
| 993 |
|
✗ |
BOOST_CHECK(r1.isApprox(r2)); |
| 994 |
|
|
|
| 995 |
|
✗ |
for (int k = 0; k < Axis::dim; ++k) |
| 996 |
|
|
{ |
| 997 |
|
✗ |
if (k == axis) |
| 998 |
|
|
{ |
| 999 |
|
✗ |
BOOST_CHECK(r1[k] == alpha); |
| 1000 |
|
✗ |
BOOST_CHECK(r2[k] == alpha); |
| 1001 |
|
|
} |
| 1002 |
|
|
else |
| 1003 |
|
|
{ |
| 1004 |
|
✗ |
BOOST_CHECK(r1[k] == Scalar(0)); |
| 1005 |
|
✗ |
BOOST_CHECK(r2[k] == Scalar(0)); |
| 1006 |
|
|
} |
| 1007 |
|
|
} |
| 1008 |
|
|
} |
| 1009 |
|
|
}; |
| 1010 |
|
|
|
| 1011 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_cartesian_axis) |
| 1012 |
|
|
{ |
| 1013 |
|
|
using namespace Eigen; |
| 1014 |
|
|
using namespace pinocchio; |
| 1015 |
|
✗ |
Vector3d v(Vector3d::Random()); |
| 1016 |
|
✗ |
const double alpha = 3; |
| 1017 |
|
✗ |
Vector3d v2(alpha * v); |
| 1018 |
|
|
|
| 1019 |
|
✗ |
BOOST_CHECK(XAxis::cross(v).isApprox(Vector3d::Unit(0).cross(v))); |
| 1020 |
|
✗ |
BOOST_CHECK(YAxis::cross(v).isApprox(Vector3d::Unit(1).cross(v))); |
| 1021 |
|
✗ |
BOOST_CHECK(ZAxis::cross(v).isApprox(Vector3d::Unit(2).cross(v))); |
| 1022 |
|
✗ |
BOOST_CHECK(XAxis::alphaCross(alpha, v).isApprox(Vector3d::Unit(0).cross(v2))); |
| 1023 |
|
✗ |
BOOST_CHECK(YAxis::alphaCross(alpha, v).isApprox(Vector3d::Unit(1).cross(v2))); |
| 1024 |
|
✗ |
BOOST_CHECK(ZAxis::alphaCross(alpha, v).isApprox(Vector3d::Unit(2).cross(v2))); |
| 1025 |
|
|
|
| 1026 |
|
✗ |
test_scalar_multiplication_cartesian_axis<0>::run(); |
| 1027 |
|
✗ |
test_scalar_multiplication_cartesian_axis<1>::run(); |
| 1028 |
|
✗ |
test_scalar_multiplication_cartesian_axis<2>::run(); |
| 1029 |
|
|
|
| 1030 |
|
|
// test Vector value |
| 1031 |
|
✗ |
BOOST_CHECK(XAxis::vector() == Vector3d::UnitX()); |
| 1032 |
|
✗ |
BOOST_CHECK(YAxis::vector() == Vector3d::UnitY()); |
| 1033 |
|
✗ |
BOOST_CHECK(ZAxis::vector() == Vector3d::UnitZ()); |
| 1034 |
|
|
} |
| 1035 |
|
|
|
| 1036 |
|
|
template<int axis> |
| 1037 |
|
|
struct test_scalar_multiplication |
| 1038 |
|
|
{ |
| 1039 |
|
|
typedef pinocchio::SpatialAxis<axis> Axis; |
| 1040 |
|
|
typedef double Scalar; |
| 1041 |
|
|
typedef pinocchio::MotionTpl<Scalar> Motion; |
| 1042 |
|
|
|
| 1043 |
|
✗ |
static void run() |
| 1044 |
|
|
{ |
| 1045 |
|
✗ |
const Scalar alpha = static_cast<Scalar>(rand()) / static_cast<Scalar>(RAND_MAX); |
| 1046 |
|
✗ |
const Motion r1 = Axis() * alpha; |
| 1047 |
|
✗ |
const Motion r2 = alpha * Axis(); |
| 1048 |
|
|
|
| 1049 |
|
✗ |
BOOST_CHECK(r1.isApprox(r2)); |
| 1050 |
|
|
|
| 1051 |
|
✗ |
for (int k = 0; k < Axis::dim; ++k) |
| 1052 |
|
|
{ |
| 1053 |
|
✗ |
if (k == axis) |
| 1054 |
|
|
{ |
| 1055 |
|
✗ |
BOOST_CHECK(r1.toVector()[k] == alpha); |
| 1056 |
|
✗ |
BOOST_CHECK(r2.toVector()[k] == alpha); |
| 1057 |
|
|
} |
| 1058 |
|
|
else |
| 1059 |
|
|
{ |
| 1060 |
|
✗ |
BOOST_CHECK(r1.toVector()[k] == Scalar(0)); |
| 1061 |
|
✗ |
BOOST_CHECK(r2.toVector()[k] == Scalar(0)); |
| 1062 |
|
|
} |
| 1063 |
|
|
} |
| 1064 |
|
|
} |
| 1065 |
|
|
}; |
| 1066 |
|
|
|
| 1067 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_spatial_axis) |
| 1068 |
|
|
{ |
| 1069 |
|
|
using namespace pinocchio; |
| 1070 |
|
|
|
| 1071 |
|
✗ |
Motion v(Motion::Random()); |
| 1072 |
|
✗ |
Force f(Force::Random()); |
| 1073 |
|
|
|
| 1074 |
|
✗ |
Motion vaxis; |
| 1075 |
|
✗ |
vaxis << AxisVX(); |
| 1076 |
|
✗ |
BOOST_CHECK(AxisVX::cross(v).isApprox(vaxis.cross(v))); |
| 1077 |
|
✗ |
BOOST_CHECK(v.cross(AxisVX()).isApprox(v.cross(vaxis))); |
| 1078 |
|
✗ |
BOOST_CHECK(AxisVX::cross(f).isApprox(vaxis.cross(f))); |
| 1079 |
|
|
|
| 1080 |
|
✗ |
vaxis << AxisVY(); |
| 1081 |
|
✗ |
BOOST_CHECK(AxisVY::cross(v).isApprox(vaxis.cross(v))); |
| 1082 |
|
✗ |
BOOST_CHECK(v.cross(AxisVY()).isApprox(v.cross(vaxis))); |
| 1083 |
|
✗ |
BOOST_CHECK(AxisVY::cross(f).isApprox(vaxis.cross(f))); |
| 1084 |
|
|
|
| 1085 |
|
✗ |
vaxis << AxisVZ(); |
| 1086 |
|
✗ |
BOOST_CHECK(AxisVZ::cross(v).isApprox(vaxis.cross(v))); |
| 1087 |
|
✗ |
BOOST_CHECK(v.cross(AxisVZ()).isApprox(v.cross(vaxis))); |
| 1088 |
|
✗ |
BOOST_CHECK(AxisVZ::cross(f).isApprox(vaxis.cross(f))); |
| 1089 |
|
|
|
| 1090 |
|
✗ |
vaxis << AxisWX(); |
| 1091 |
|
✗ |
BOOST_CHECK(AxisWX::cross(v).isApprox(vaxis.cross(v))); |
| 1092 |
|
✗ |
BOOST_CHECK(v.cross(AxisWX()).isApprox(v.cross(vaxis))); |
| 1093 |
|
✗ |
BOOST_CHECK(AxisWX::cross(f).isApprox(vaxis.cross(f))); |
| 1094 |
|
|
|
| 1095 |
|
✗ |
vaxis << AxisWY(); |
| 1096 |
|
✗ |
BOOST_CHECK(AxisWY::cross(v).isApprox(vaxis.cross(v))); |
| 1097 |
|
✗ |
BOOST_CHECK(v.cross(AxisWY()).isApprox(v.cross(vaxis))); |
| 1098 |
|
✗ |
BOOST_CHECK(AxisWY::cross(f).isApprox(vaxis.cross(f))); |
| 1099 |
|
|
|
| 1100 |
|
✗ |
vaxis << AxisWZ(); |
| 1101 |
|
✗ |
BOOST_CHECK(AxisWZ::cross(v).isApprox(vaxis.cross(v))); |
| 1102 |
|
✗ |
BOOST_CHECK(v.cross(AxisWZ()).isApprox(v.cross(vaxis))); |
| 1103 |
|
✗ |
BOOST_CHECK(AxisWZ::cross(f).isApprox(vaxis.cross(f))); |
| 1104 |
|
|
|
| 1105 |
|
|
// Test operation Axis * Scalar |
| 1106 |
|
✗ |
test_scalar_multiplication<0>::run(); |
| 1107 |
|
✗ |
test_scalar_multiplication<1>::run(); |
| 1108 |
|
✗ |
test_scalar_multiplication<2>::run(); |
| 1109 |
|
✗ |
test_scalar_multiplication<3>::run(); |
| 1110 |
|
✗ |
test_scalar_multiplication<4>::run(); |
| 1111 |
|
✗ |
test_scalar_multiplication<5>::run(); |
| 1112 |
|
|
|
| 1113 |
|
|
// Operations of Constraint on forces Sxf |
| 1114 |
|
|
typedef Motion::ActionMatrixType ActionMatrixType; |
| 1115 |
|
|
typedef ActionMatrixType::ColXpr ColType; |
| 1116 |
|
|
typedef ForceRef<ColType> ForceRefOnColType; |
| 1117 |
|
|
typedef MotionRef<ColType> MotionRefOnColType; |
| 1118 |
|
✗ |
ActionMatrixType Sxf, Sxf_ref; |
| 1119 |
|
✗ |
ActionMatrixType S(ActionMatrixType::Identity()); |
| 1120 |
|
|
|
| 1121 |
|
✗ |
SpatialAxis<0>::cross(f, ForceRefOnColType(Sxf.col(0))); |
| 1122 |
|
✗ |
SpatialAxis<1>::cross(f, ForceRefOnColType(Sxf.col(1))); |
| 1123 |
|
✗ |
SpatialAxis<2>::cross(f, ForceRefOnColType(Sxf.col(2))); |
| 1124 |
|
✗ |
SpatialAxis<3>::cross(f, ForceRefOnColType(Sxf.col(3))); |
| 1125 |
|
✗ |
SpatialAxis<4>::cross(f, ForceRefOnColType(Sxf.col(4))); |
| 1126 |
|
✗ |
SpatialAxis<5>::cross(f, ForceRefOnColType(Sxf.col(5))); |
| 1127 |
|
|
|
| 1128 |
|
✗ |
for (int k = 0; k < 6; ++k) |
| 1129 |
|
|
{ |
| 1130 |
|
✗ |
MotionRefOnColType Scol(S.col(k)); |
| 1131 |
|
✗ |
ForceRefOnColType(Sxf_ref.col(k)) = Scol.cross(f); |
| 1132 |
|
|
} |
| 1133 |
|
|
|
| 1134 |
|
✗ |
BOOST_CHECK(Sxf.isApprox(Sxf_ref)); |
| 1135 |
|
|
} |
| 1136 |
|
|
|
| 1137 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
| 1138 |
|
|
|