Directory: | ./ |
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File: | tests/contacts.cpp |
Date: | 2024-08-26 20:29:39 |
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1 | // | ||
2 | // Copyright (c) 2017 CNRS | ||
3 | // | ||
4 | // This file is part of tsid | ||
5 | // tsid is free software: you can redistribute it | ||
6 | // and/or modify it under the terms of the GNU Lesser General Public | ||
7 | // License as published by the Free Software Foundation, either version | ||
8 | // 3 of the License, or (at your option) any later version. | ||
9 | // tsid is distributed in the hope that it will be | ||
10 | // useful, but WITHOUT ANY WARRANTY; without even the implied warranty | ||
11 | // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | ||
12 | // General Lesser Public License for more details. You should have | ||
13 | // received a copy of the GNU Lesser General Public License along with | ||
14 | // tsid If not, see | ||
15 | // <http://www.gnu.org/licenses/>. | ||
16 | // | ||
17 | |||
18 | #include <iostream> | ||
19 | |||
20 | #include <boost/test/unit_test.hpp> | ||
21 | #include <boost/utility/binary.hpp> | ||
22 | |||
23 | #include <pinocchio/algorithm/joint-configuration.hpp> | ||
24 | |||
25 | #include <tsid/contacts/contact-6d.hpp> | ||
26 | #include <tsid/robots/robot-wrapper.hpp> | ||
27 | |||
28 | using namespace tsid; | ||
29 | using namespace trajectories; | ||
30 | using namespace math; | ||
31 | using namespace contacts; | ||
32 | using namespace tsid::robots; | ||
33 | using namespace std; | ||
34 | |||
35 | BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) | ||
36 | |||
37 | #define REQUIRE_FINITE(A) BOOST_REQUIRE_MESSAGE(isFinite(A), #A << ": " << A) | ||
38 | |||
39 | const string romeo_model_path = TSID_SOURCE_DIR "/models/romeo"; | ||
40 | |||
41 |
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4 | BOOST_AUTO_TEST_CASE(test_contact_6d) { |
42 | 2 | const double lx = 0.07; | |
43 | 2 | const double ly = 0.12; | |
44 | 2 | const double lz = 0.105; | |
45 | 2 | const double mu = 0.3; | |
46 | 2 | const double fMin = 10.0; | |
47 | 2 | const double fMax = 1000.0; | |
48 |
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2 | const std::string frameName = "r_sole_joint"; |
49 | |||
50 | 2 | vector<string> package_dirs; | |
51 |
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2 | package_dirs.push_back(romeo_model_path); |
52 |
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2 | string urdfFileName = package_dirs[0] + "/urdf/romeo.urdf"; |
53 | RobotWrapper robot(urdfFileName, package_dirs, | ||
54 |
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4 | pinocchio::JointModelFreeFlyer(), false); |
55 | |||
56 |
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2 | BOOST_REQUIRE(robot.model().existFrame(frameName)); |
57 | |||
58 |
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2 | Vector3 contactNormal = Vector3::UnitZ(); |
59 |
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2 | Matrix3x contactPoints(3, 4); |
60 |
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2 | contactPoints << -lx, -lx, +lx, +lx, -ly, +ly, -ly, +ly, lz, lz, lz, lz; |
61 | Contact6d contact("contact6d", robot, frameName, contactPoints, contactNormal, | ||
62 |
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4 | mu, fMin, fMax); |
63 | |||
64 |
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2 | BOOST_CHECK(contact.n_motion() == 6); |
65 |
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2 | BOOST_CHECK(contact.n_force() == 12); |
66 | |||
67 |
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2 | Vector Kp = Vector::Ones(6); |
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2 | Vector Kd = 2 * Vector::Ones(6); |
69 |
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2 | contact.Kp(Kp); |
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2 | contact.Kd(Kd); |
71 |
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2 | BOOST_CHECK(contact.Kp().isApprox(Kp)); |
72 |
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2 | BOOST_CHECK(contact.Kd().isApprox(Kd)); |
73 | |||
74 |
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2 | Vector q = neutral(robot.model()); |
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2 | Vector v = Vector::Zero(robot.nv()); |
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2 | pinocchio::Data data(robot.model()); |
77 |
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2 | robot.computeAllTerms(data, q, v); |
78 | |||
79 | pinocchio::SE3 H_ref = | ||
80 |
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2 | robot.position(data, robot.model().getFrameId(frameName)); |
81 |
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2 | contact.setReference(H_ref); |
82 | |||
83 | 2 | double t = 0.0; | |
84 |
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2 | contact.computeMotionTask(t, q, v, data); |
85 | |||
86 | const ConstraintInequality& forceIneq = | ||
87 |
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2 | contact.computeForceTask(t, q, v, data); |
88 |
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2 | Vector3 f3; |
89 |
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2 | Vector f(12); |
90 |
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2 | f3 << 0.0, 0.0, 100.0; |
91 |
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2 | f << f3, f3, f3, f3; |
92 |
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2 | BOOST_CHECK(forceIneq.checkConstraint(f)); |
93 |
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2 | BOOST_CHECK( |
94 | ((forceIneq.matrix() * f).array() <= forceIneq.upperBound().array()) | ||
95 | .all()); | ||
96 |
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2 | BOOST_CHECK( |
97 | ((forceIneq.matrix() * f).array() >= forceIneq.lowerBound().array()) | ||
98 | .all()); | ||
99 |
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2 | f(0) = f(2) * mu * 1.1; |
100 |
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2 | BOOST_CHECK(forceIneq.checkConstraint(f) == false); |
101 | |||
102 |
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2 | const Matrix& forceGenMat = contact.getForceGeneratorMatrix(); |
103 |
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2 | BOOST_CHECK(forceGenMat.rows() == 6 && forceGenMat.cols() == 12); |
104 | |||
105 |
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2 | contact.computeForceRegularizationTask(t, q, v, data); |
106 | 2 | } | |
107 | |||
108 | BOOST_AUTO_TEST_SUITE_END() | ||
109 |