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// |
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// Copyright (c) 2016-2018 CNRS |
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// |
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#include <iostream> |
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#include "pinocchio/multibody/model.hpp" |
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#include "pinocchio/parsers/urdf.hpp" |
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#include "pinocchio/parsers/srdf.hpp" |
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#include <boost/test/unit_test.hpp> |
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using namespace pinocchio; |
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using namespace std; |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_removeCollisionPairs) |
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{ |
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using namespace pinocchio::urdf; |
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using namespace pinocchio::srdf; |
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const string model_filename = |
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PINOCCHIO_MODEL_DIR |
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+ std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf"); |
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const string model_dir = PINOCCHIO_MODEL_DIR; |
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const string srdf_filename = |
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PINOCCHIO_MODEL_DIR |
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+ std::string("/example-robot-data/robots/romeo_description/srdf/romeo.srdf"); |
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Model model; |
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buildModel(model_filename, model); |
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GeometryModel geom_model; |
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vector<string> paths; |
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paths.push_back(model_dir); |
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buildGeom(model, model_filename, COLLISION, geom_model, paths); |
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geom_model.addAllCollisionPairs(); |
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const size_t num_init_col_pairs = geom_model.collisionPairs.size(); |
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removeCollisionPairs(model, geom_model, srdf_filename, false); |
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const size_t num_col_pairs = geom_model.collisionPairs.size(); |
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BOOST_CHECK(num_init_col_pairs > num_col_pairs); |
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} |
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BOOST_AUTO_TEST_CASE(readReferenceConfig) |
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{ |
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using namespace pinocchio::urdf; |
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using namespace pinocchio::srdf; |
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const string model_filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf"); |
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const string srdf_filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.srdf"); |
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Model model; |
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buildModel(model_filename, model); |
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loadReferenceConfigurations(model, srdf_filename, false); |
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Eigen::VectorXd q = model.referenceConfigurations["half_sitting"]; |
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Eigen::VectorXd q2 = model.referenceConfigurations["half_sitting2"]; |
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BOOST_CHECK(q.size() == model.nq); |
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BOOST_CHECK(!q.isZero()); |
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BOOST_CHECK(q2.size() == model.nq); |
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BOOST_CHECK(!q2.isZero()); |
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} |
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BOOST_AUTO_TEST_CASE(readReferenceConfig_stream) |
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{ |
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const string urdf = "<robot name='test'>" |
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"<link name='base_link'/>" |
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"<link name='child_link'/>" |
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"<joint type='revolute' name='joint'>" |
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" <parent link='base_link'/>" |
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" <child link='child_link'/>" |
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" <limit effort='30' velocity='1.0' />" |
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"</joint>" |
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"</robot>"; |
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const string srdf = "<robot name='test'>" |
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"<group_state name='reference' group='all'>" |
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" <joint name='joint' value='0.0' />" |
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"</group_state>" |
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"</robot>"; |
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Model model; |
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pinocchio::urdf::buildModelFromXML(urdf, model); |
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std::istringstream iss(srdf); |
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pinocchio::srdf::loadReferenceConfigurationsFromXML(model, iss, false); |
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Eigen::VectorXd q = model.referenceConfigurations["reference"]; |
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Eigen::VectorXd qexpected(1); |
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qexpected << 0; |
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BOOST_CHECK(q.size() == model.nq); |
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BOOST_CHECK(q.isApprox(qexpected)); |
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} |
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BOOST_AUTO_TEST_CASE(test_continuous_joint) |
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{ |
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const string urdf = "<robot name='test'>" |
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"<link name='base_link'/>" |
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"<link name='child_link'/>" |
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"<joint type='continuous' name='joint'>" |
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" <parent link='base_link'/>" |
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" <child link='child_link'/>" |
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" <limit effort='30' velocity='1.0' />" |
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"</joint>" |
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"</robot>"; |
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const string srdf = "<robot name='test'>" |
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"<group_state name='reference' group='all'>" |
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" <joint name='joint' value='0.0' />" |
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"</group_state>" |
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"</robot>"; |
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Model model; |
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pinocchio::urdf::buildModelFromXML(urdf, model); |
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std::istringstream iss(srdf); |
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pinocchio::srdf::loadReferenceConfigurationsFromXML(model, iss, false); |
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Eigen::VectorXd q = model.referenceConfigurations["reference"]; |
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Eigen::VectorXd qexpected(2); |
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qexpected << 1, 0; |
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BOOST_CHECK(q.size() == model.nq); |
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BOOST_CHECK(q.isApprox(qexpected)); |
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} |
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BOOST_AUTO_TEST_CASE(readRotorParams) |
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{ |
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using namespace pinocchio::urdf; |
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using namespace pinocchio::srdf; |
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const string model_filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf"); |
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const string srdf_filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.srdf"); |
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Model model; |
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buildModel(model_filename, model); |
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loadRotorParameters(model, srdf_filename, false); |
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BOOST_CHECK(model.rotorInertia(model.joints[model.getJointId("WAIST_P")].idx_v()) == 1.0); |
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BOOST_CHECK(model.rotorGearRatio(model.joints[model.getJointId("WAIST_R")].idx_v()) == 1.0); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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