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// |
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// Copyright (c) 2015-2021 CNRS INRIA |
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// |
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#include "pinocchio/spatial/fwd.hpp" |
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#include "pinocchio/spatial/se3.hpp" |
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#include "pinocchio/multibody/visitor.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/crba.hpp" |
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#include "pinocchio/algorithm/centroidal.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/compute-all-terms.hpp" |
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#include "pinocchio/parsers/sample-models.hpp" |
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#include "pinocchio/utils/timer.hpp" |
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#include <boost/test/unit_test.hpp> |
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using namespace pinocchio; |
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BOOST_AUTO_TEST_SUITE( BOOST_TEST_MODULE ) |
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void run_test(const Model & model, const Eigen::VectorXd & q, const Eigen::VectorXd & v) |
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{ |
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✓✗ | 8 |
pinocchio::Data data(model); |
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✓✗ | 8 |
pinocchio::Data data_other(model); |
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✓✗ | 4 |
computeAllTerms(model,data,q,v); |
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✓✗ | 4 |
nonLinearEffects(model,data_other,q,v); |
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✓✗ | 4 |
crba(model,data_other,q); |
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✓✗ | 4 |
getJacobianComFromCrba(model, data_other); |
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✓✗ | 4 |
computeJointJacobiansTimeVariation(model,data_other,q,v); |
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✓✗ | 4 |
centerOfMass(model, data_other, q, v, true); |
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✓✗ | 4 |
computeKineticEnergy(model, data_other, q, v); |
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✓✗ | 4 |
computePotentialEnergy(model, data_other, q); |
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✓✗ | 4 |
dccrba(model, data_other, q, v); |
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✓✗ | 4 |
computeGeneralizedGravity(model, data_other, q); |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK(data.nle.isApprox(data_other.nle)); |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK(Eigen::MatrixXd(data.M.triangularView<Eigen::Upper>()) |
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.isApprox(Eigen::MatrixXd(data_other.M.triangularView<Eigen::Upper>()))); |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK(data.J.isApprox(data_other.J)); |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK(data.dJ.isApprox(data_other.dJ)); |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK(data.Jcom.isApprox(data_other.Jcom)); |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK(data.Ag.isApprox(data_other.Ag)); |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK(data.dAg.isApprox(data_other.dAg)); |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK(data.hg.isApprox(data_other.hg)); |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK(data.Ig.isApprox(data_other.Ig)); |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK(data.g.isApprox(data_other.g)); |
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✓✓ | 116 |
for(int k=0; k<model.njoints; ++k) |
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{ |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK(data.com[(size_t)k].isApprox(data_other.com[(size_t)k])); |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK(data.vcom[(size_t)k].isApprox(data_other.vcom[(size_t)k])); |
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✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
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BOOST_CHECK_CLOSE(data.mass[(size_t)k], data_other.mass[(size_t)k], 1e-12); |
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} |
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✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
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BOOST_CHECK_CLOSE(data.kinetic_energy, data_other.kinetic_energy, 1e-12); |
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✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
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BOOST_CHECK_CLOSE(data.potential_energy, data_other.potential_energy, 1e-12); |
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} |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
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BOOST_AUTO_TEST_CASE( test_against_algo ) |
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{ |
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using namespace Eigen; |
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✓✗✓✗ |
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pinocchio::Model model; buildModels::humanoidRandom(model); |
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✓✗✓✗ |
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VectorXd q(VectorXd::Random(model.nq)); |
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✓✗✓✗ |
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VectorXd v(VectorXd::Random(model.nv)); |
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// ------- |
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✓✗ | 2 |
q.setZero(); |
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✓✗ | 2 |
v.setZero(); |
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✓✗ | 2 |
run_test(model,q,v); |
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// ------- |
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✓✗ | 2 |
q.setZero(); |
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✓✗ | 2 |
v.setOnes(); |
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✓✗ | 2 |
run_test(model,q,v); |
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// ------- |
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✓✗ | 2 |
q.setOnes(); |
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✓✗✓✗ |
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q.segment<4>(3).normalize(); |
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✓✗ | 2 |
v.setOnes(); |
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✓✗ | 2 |
run_test(model,q,v); |
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// ------- |
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✓✗ | 2 |
q.setRandom(); |
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✓✗✓✗ |
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q.segment<4>(3).normalize(); |
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✓✗ | 2 |
v.setRandom(); |
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✓✗ | 2 |
run_test(model,q,v); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
| Generated by: GCOVR (Version 4.2) |