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// Copyright (c) 2015-2022 CNRS INRIA |
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// |
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#include <iostream> |
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#include <fstream> |
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#include <streambuf> |
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#include "pinocchio/multibody/model.hpp" |
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#include "pinocchio/parsers/urdf.hpp" |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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#include <hpp/fcl/collision_object.h> |
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#endif // PINOCCHIO_WITH_HPP_FCL |
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#include <boost/test/unit_test.hpp> |
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#include <urdf_parser/urdf_parser.h> |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(build_model) |
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{ |
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const std::string 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 std::string dir = PINOCCHIO_MODEL_DIR; |
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pinocchio::Model model; |
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pinocchio::urdf::buildModel(filename, model); |
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pinocchio::GeometryModel geomModel; |
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pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel, dir); |
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BOOST_CHECK(model.nq == 31); |
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} |
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BOOST_AUTO_TEST_CASE(build_model_simple_humanoid) |
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{ |
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const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf"); |
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const std::string dir = PINOCCHIO_MODEL_DIR; |
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pinocchio::Model model; |
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pinocchio::urdf::buildModel(filename, model); |
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BOOST_CHECK_EQUAL(model.nq, 29); |
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// Check that parsing collision_checking works. |
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pinocchio::GeometryModel geomModel; |
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pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel, dir); |
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BOOST_CHECK_EQUAL(geomModel.ngeoms, 2); |
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#ifdef PINOCCHIO_WITH_HPP_FCL |
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// Check that cylinder is converted into capsule. |
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#ifdef PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME |
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BOOST_CHECK_EQUAL(geomModel.geometryObjects[0].geometry->getNodeType(), hpp::fcl::GEOM_CYLINDER); |
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#else // PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME |
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BOOST_CHECK_EQUAL(geomModel.geometryObjects[0].geometry->getNodeType(), hpp::fcl::GEOM_CAPSULE); |
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#endif |
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#ifndef PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME |
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BOOST_CHECK_EQUAL(geomModel.geometryObjects[1].geometry->getNodeType(), hpp::fcl::GEOM_CONVEX); |
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#else // PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME |
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BOOST_CHECK_EQUAL(geomModel.geometryObjects[1].geometry->getObjectType(), hpp::fcl::OT_BVH); |
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#endif |
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#endif // PINOCCHIO_WITH_HPP_FCL |
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pinocchio::Model model_ff; |
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pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model_ff); |
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BOOST_CHECK(model_ff.nq == 36); |
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} |
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BOOST_AUTO_TEST_CASE(check_mesh_relative_path) |
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{ |
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std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf"); |
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const std::string dir = PINOCCHIO_MODEL_DIR; |
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pinocchio::Model model0; |
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pinocchio::urdf::buildModel(filename, model0); |
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pinocchio::GeometryModel geomModel0; |
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pinocchio::urdf::buildGeom(model0, filename, pinocchio::COLLISION, geomModel0, dir); |
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BOOST_CHECK_EQUAL(geomModel0.ngeoms, 2); |
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// check if urdf with relative mesh path without //package can be loaded |
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filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid_rel_mesh.urdf"); |
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pinocchio::Model model1; |
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pinocchio::urdf::buildModel(filename, model1); |
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pinocchio::GeometryModel geomModel1; |
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pinocchio::urdf::buildGeom(model1, filename, pinocchio::COLLISION, geomModel1, dir); |
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BOOST_CHECK_EQUAL(geomModel1.ngeoms, 2); |
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BOOST_CHECK_EQUAL( |
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geomModel0.geometryObjects[1].name.compare(geomModel1.geometryObjects[1].name), 0); |
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} |
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BOOST_AUTO_TEST_CASE(build_model_from_XML) |
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{ |
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const std::string 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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// Read file as XML |
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std::ifstream file; |
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file.open(filename.c_str()); |
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std::string filestr((std::istreambuf_iterator<char>(file)), std::istreambuf_iterator<char>()); |
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pinocchio::Model model; |
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pinocchio::urdf::buildModelFromXML(filestr, model); |
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BOOST_CHECK(model.nq == 31); |
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} |
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BOOST_AUTO_TEST_CASE(check_tree_from_XML) |
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{ |
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// Read file as XML |
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std::string filestr("<?xml version=\"1.0\" encoding=\"utf-8\"?>" |
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"<robot name=\"test\">" |
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" <link name=\"base_link\"/>" |
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" <link name=\"link_1\"/>" |
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" <link name=\"link_2\"/>" |
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" <joint name=\"joint_1\" type=\"fixed\">" |
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" <origin xyz=\"1 0 0\"/>" |
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" <axis xyz=\"0 0 1\"/>" |
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" <parent link=\"base_link\"/>" |
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" <child link=\"link_1\"/>" |
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" </joint>" |
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" <joint name=\"joint_2\" type=\"fixed\">" |
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" <origin xyz=\"0 1 0\"/>" |
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" <axis xyz=\"0 0 1\"/>" |
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" <parent link=\"link_1\"/>" |
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" <child link=\"link_2\"/>" |
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" </joint>" |
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"</robot>"); |
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pinocchio::Model model; |
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pinocchio::urdf::buildModelFromXML(filestr, model); |
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pinocchio::JointIndex base_link_id = model.getFrameId("base_link"), |
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link1_id = model.getFrameId("link_1"), |
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link2_id = model.getFrameId("link_2"), |
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joint1_id = model.getFrameId("joint_1"), |
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joint2_id = model.getFrameId("joint_2"); |
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BOOST_CHECK_EQUAL(base_link_id, model.frames[joint1_id].parentFrame); |
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BOOST_CHECK_EQUAL(joint1_id, model.frames[link1_id].parentFrame); |
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BOOST_CHECK_EQUAL(link1_id, model.frames[joint2_id].parentFrame); |
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BOOST_CHECK_EQUAL(joint2_id, model.frames[link2_id].parentFrame); |
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} |
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BOOST_AUTO_TEST_CASE(build_model_from_UDRFTree) |
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{ |
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const std::string 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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::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDFFile(filename); |
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pinocchio::Model model; |
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pinocchio::urdf::buildModel(urdfTree, model); |
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BOOST_CHECK(model.nq == 31); |
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} |
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BOOST_AUTO_TEST_CASE(build_model_with_joint) |
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{ |
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const std::string 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 std::string dir = PINOCCHIO_MODEL_DIR; |
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pinocchio::Model model; |
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pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model); |
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pinocchio::GeometryModel geomModel_collision, geomModel_visual; |
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pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel_collision, dir); |
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pinocchio::urdf::buildGeom(model, filename, pinocchio::VISUAL, geomModel_visual, dir); |
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BOOST_CHECK(model.nq == 38); |
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} |
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BOOST_AUTO_TEST_CASE(build_model_with_joint_from_XML) |
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{ |
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const std::string 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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// Read file as XML |
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std::ifstream file; |
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file.open(filename.c_str()); |
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std::string filestr((std::istreambuf_iterator<char>(file)), std::istreambuf_iterator<char>()); |
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pinocchio::Model model; |
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pinocchio::urdf::buildModelFromXML(filestr, pinocchio::JointModelFreeFlyer(), model); |
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BOOST_CHECK(model.nq == 38); |
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} |
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BOOST_AUTO_TEST_CASE(build_model_with_joint_from_UDRFTree) |
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{ |
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const std::string 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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::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDFFile(filename); |
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pinocchio::Model model; |
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pinocchio::urdf::buildModel(urdfTree, pinocchio::JointModelFreeFlyer(), model); |
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BOOST_CHECK(model.nq == 38); |
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} |
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BOOST_AUTO_TEST_CASE(append_two_URDF_models) |
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{ |
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const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf"); |
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pinocchio::Model model; |
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pinocchio::urdf::buildModel(filename, model); |
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BOOST_CHECK(model.njoints == 30); |
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const int nframes = model.nframes; |
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const std::string filestr("<?xml version=\"1.0\" encoding=\"utf-8\"?>" |
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"<robot name=\"test\">" |
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" <link name=\"box\"/>" |
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"</robot>"); |
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pinocchio::urdf::buildModelFromXML(filestr, model); |
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BOOST_CHECK(model.njoints == 30); |
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BOOST_CHECK(nframes + 1 == model.nframes); |
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} |
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BOOST_AUTO_TEST_CASE(append_two_URDF_models_with_root_joint) |
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{ |
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const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf"); |
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pinocchio::Model model; |
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pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model); |
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BOOST_CHECK(model.njoints == 31); |
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const std::string filestr("<?xml version=\"1.0\" encoding=\"utf-8\"?>" |
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"<robot name=\"test\">" |
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" <link name=\"box\"/>" |
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"</robot>"); |
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BOOST_CHECK_THROW( |
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pinocchio::urdf::buildModelFromXML(filestr, pinocchio::JointModelFreeFlyer(), model), |
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std::invalid_argument); |
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} |
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BOOST_AUTO_TEST_CASE(check_specific_models) |
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{ |
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const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/baxter_simple.urdf"); |
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pinocchio::Model model; |
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pinocchio::urdf::buildModel(filename, model); |
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} |
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#if defined(PINOCCHIO_WITH_HPP_FCL) |
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BOOST_AUTO_TEST_CASE(test_geometry_parsing) |
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{ |
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typedef pinocchio::Model Model; |
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typedef pinocchio::GeometryModel GeometryModel; |
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std::string 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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std::vector<std::string> packageDirs; |
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std::string meshDir = PINOCCHIO_MODEL_DIR; |
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packageDirs.push_back(meshDir); |
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Model model; |
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pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model); |
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GeometryModel geomModel; |
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pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel, packageDirs); |
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geomModel.addAllCollisionPairs(); |
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GeometryModel geomModelOther = |
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pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel, packageDirs); |
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BOOST_CHECK(geomModelOther == geomModel); |
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} |
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#endif // if defined(PINOCCHIO_WITH_HPP_FCL) |
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BOOST_AUTO_TEST_CASE(test_getFrameId_identical_link_and_joint_name) |
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{ |
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// This test checks whether the input argument of getFrameId raises an exception when multiple |
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// frames with identical names are found. Note, a model that contains a link and a joint with the |
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// same name is valid, but the look-up for e.g. getFrameId requires the explicit specification of |
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// the FrameType in order to be valid. It resolved |
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// https://github.com/stack-of-tasks/pinocchio/issues/1771 |
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pinocchio::Model model; |
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const std::string filename = |
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PINOCCHIO_MODEL_DIR + std::string("/../unittest/models/link_and_joint_identical_name.urdf"); |
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pinocchio::urdf::buildModel(filename, model); |
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BOOST_CHECK_THROW(model.getFrameId("base"), std::invalid_argument); |
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BOOST_CHECK(model.getFrameId("base", pinocchio::FrameType::BODY) == 2); |
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BOOST_CHECK(model.getFrameId("base", pinocchio::FrameType::FIXED_JOINT) == 3); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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