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// |
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// Copyright (c) 2016-2020 CNRS INRIA |
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// |
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#include "pinocchio/algorithm/energy.hpp" |
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#include "pinocchio/algorithm/crba.hpp" |
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#include "pinocchio/algorithm/joint-configuration.hpp" |
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#include "pinocchio/algorithm/center-of-mass.hpp" |
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#include "pinocchio/parsers/sample-models.hpp" |
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#include <boost/test/unit_test.hpp> |
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#include <boost/utility/binary.hpp> |
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#include <boost/test/tools/floating_point_comparison.hpp> |
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BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE ) |
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BOOST_AUTO_TEST_CASE(test_kinetic_energy) |
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{ |
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using namespace Eigen; |
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using namespace pinocchio; |
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pinocchio::Model model; |
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pinocchio::buildModels::humanoidRandom(model); |
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pinocchio::Data data(model); |
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const VectorXd qmax = VectorXd::Ones(model.nq); |
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VectorXd q = randomConfiguration(model,-qmax,qmax); |
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VectorXd v = VectorXd::Ones(model.nv); |
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data.M.fill(0); crba(model,data,q); |
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data.M.triangularView<Eigen::StrictlyLower>() |
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= data.M.transpose().triangularView<Eigen::StrictlyLower>(); |
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double kinetic_energy_ref = 0.5 * v.transpose() * data.M * v; |
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double kinetic_energy = computeKineticEnergy(model, data, q, v); |
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BOOST_CHECK_SMALL(kinetic_energy_ref - kinetic_energy, 1e-12); |
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} |
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BOOST_AUTO_TEST_CASE(test_potential_energy) |
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{ |
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using namespace Eigen; |
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using namespace pinocchio; |
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pinocchio::Model model; |
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pinocchio::buildModels::humanoidRandom(model); |
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pinocchio::Data data(model), data_ref(model); |
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const VectorXd qmax = VectorXd::Ones(model.nq); |
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VectorXd q = randomConfiguration(model,-qmax,qmax); |
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double potential_energy = computePotentialEnergy(model, data, q); |
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centerOfMass(model,data_ref,q); |
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double potential_energy_ref = -data_ref.mass[0] * (data_ref.com[0].dot(model.gravity.linear())); |
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BOOST_CHECK_SMALL(potential_energy_ref - potential_energy, 1e-12); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
| Generated by: GCOVR (Version 4.2) |