GCC Code Coverage Report

Directory: ./
File: tests/tools/test_device.cpp
Date: 2024-10-13 12:22:59
Exec Total Coverage
Lines: 62 62 100.0%
Branches: 126 242 52.1%
Line Branch Exec Source
1 /*
2 * Copyright 2019,
3 * Olivier Stasse,
4 *
5 * CNRS/AIST
6 *
7 */
8
9 #include <iostream>
10 #include <pinocchio/multibody/liegroup/special-euclidean.hpp>
11 #include <sot/core/debug.hh>
12
13 #ifndef WIN32
14 #include <unistd.h>
15 #endif
16
17 using namespace std;
18
19 #include <dynamic-graph/entity.h>
20 #include <dynamic-graph/factory.h>
21
22 #include <boost/test/unit_test.hpp>
23 #include <sot/core/device.hh>
24 #include <sstream>
25
26 using namespace dynamicgraph;
27 using namespace dynamicgraph::sot;
28 namespace dg = dynamicgraph;
29
30 class TestDevice : public dg::sot::Device {
31 public:
32 1 TestDevice(const std::string &RobotName) : Device(RobotName) {
33 1 timestep_ = 0.001;
34 1 }
35 2 ~TestDevice() {}
36 };
37
38
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 4 BOOST_AUTO_TEST_CASE(test_device) {
39
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 4 TestDevice aDevice(std::string("simple_humanoid"));
40
41 /// Fix constant vector for the control entry in position
42
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 2 dg::Vector aStateVector(38);
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 2 dg::Vector aVelocityVector(38);
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 2 dg::Vector aLowerVelBound(38), anUpperVelBound(38);
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 2 dg::Vector aLowerBound(38), anUpperBound(38);
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 2 dg::Vector anAccelerationVector(38);
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 2 dg::Vector aControlVector(38);
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 78 for (unsigned int i = 0; i < 38; i++) {
50 // Specify lower velocity bound
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 76 aLowerVelBound[i] = -3.14;
52 // Specify lower position bound
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 76 aLowerBound[i] = -3.14;
54 // Specify state vector
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 76 aStateVector[i] = 0.1;
56 // Specify upper velocity bound
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 76 anUpperVelBound[i] = 3.14;
58 // Specify upper position bound
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 76 anUpperBound[i] = 3.14;
60 // Specify control vector
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 76 aControlVector(i) = 0.1;
62 }
63
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 2 dg::Vector expected = aStateVector; // backup initial state vector
65
66 /// Specify state size
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 2 aDevice.setStateSize(38);
68 /// Specify state bounds
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 2 aDevice.setPositionBounds(aLowerBound, anUpperBound);
70 /// Specify velocity size
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 2 aDevice.setVelocitySize(38);
72 /// Specify velocity
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 2 aDevice.setVelocity(aStateVector);
74 /// Specify velocity bounds
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 2 aDevice.setVelocityBounds(aLowerVelBound, anUpperVelBound);
76 /// Specify current state value
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 2 aDevice.setState(aStateVector); // entry signal in position
78 /// Specify constant control value
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 2 aDevice.controlSIN.setConstant(aControlVector);
80
81 2 const double dt = 0.001;
82 2 const unsigned int N = 2000;
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 4002 for (unsigned int i = 0; i < N; i++) {
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 4000 aDevice.increment(dt);
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 4000 if (i == 0) {
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 2 aDevice.stateSOUT.get(std::cout);
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 2 std::ostringstream anoss;
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 2 aDevice.stateSOUT.get(anoss);
89 2 }
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 4000 if (i == 1) {
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 2 aDevice.stateSOUT.get(std::cout);
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 2 std::ostringstream anoss;
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 2 aDevice.stateSOUT.get(anoss);
94 2 }
95 }
96
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 2 aDevice.display(std::cout);
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 2 aDevice.cmdDisplay();
99
100 // verify correct integration
101 typedef pinocchio::SpecialEuclideanOperationTpl<3, double> SE3;
102
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 2 Eigen::Matrix<double, 7, 1> qin, qout;
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 2 qin.head<3>() = expected.head<3>();
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 2 Eigen::QuaternionMapd quat(qin.tail<4>().data());
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 2 quat = Eigen::AngleAxisd(expected(5), Eigen::Vector3d::UnitZ()) *
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 4 Eigen::AngleAxisd(expected(4), Eigen::Vector3d::UnitY()) *
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 4 Eigen::AngleAxisd(expected(3), Eigen::Vector3d::UnitX());
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110 2 const double T = dt * N;
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 2 Eigen::Matrix<double, 6, 1> control = aControlVector.head<6>() * T;
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 2 SE3().integrate(qin, control, qout);
113
114 // Manual integration
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 2 expected.head<3>() = qout.head<3>();
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 4 expected.segment<3>(3) = Eigen::QuaternionMapd(qout.tail<4>().data())
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 2 .toRotationMatrix()
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 2 .eulerAngles(2, 1, 0)
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 4 .reverse();
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 66 for (int i = 6; i < expected.size(); i++) expected[i] = 0.3;
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 2 std::cout << expected.transpose() << std::endl;
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 2 std::cout << aDevice.stateSOUT(N).transpose() << std::endl;
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 2 BOOST_CHECK(aDevice.stateSOUT(N).isApprox(expected));
126 2 }
127