Directory: | ./ |
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File: | tests/robot-wrapper.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 "tsid/robots/robot-wrapper.hpp" | ||
24 | #include <pinocchio/algorithm/joint-configuration.hpp> | ||
25 | |||
26 | using namespace tsid; | ||
27 | using namespace tsid::math; | ||
28 | using namespace tsid::robots; | ||
29 | |||
30 | BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) | ||
31 | |||
32 |
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4 | BOOST_AUTO_TEST_CASE(test_robot_wrapper) { |
33 | using namespace std; | ||
34 | using namespace pinocchio; | ||
35 | |||
36 |
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2 | const string romeo_model_path = TSID_SOURCE_DIR "/models/romeo"; |
37 | |||
38 | 2 | vector<string> package_dirs; | |
39 |
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2 | package_dirs.push_back(romeo_model_path); |
40 |
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2 | string urdfFileName = package_dirs[0] + "/urdf/romeo.urdf"; |
41 | |||
42 | RobotWrapper robot(urdfFileName, package_dirs, | ||
43 |
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2 | pinocchio::JointModelFreeFlyer(), false); |
44 | |||
45 |
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2 | const Model& model = robot.model(); |
46 | |||
47 | // Update default config bounds to take into account the Free Flyer | ||
48 |
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2 | Vector lb(model.lowerPositionLimit); |
49 |
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2 | lb.head<3>().fill(-10.); |
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2 | lb.segment<4>(3).fill(-1.); |
51 | |||
52 |
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2 | Vector ub(model.upperPositionLimit); |
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2 | ub.head<3>().fill(10.); |
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2 | ub.segment<4>(3).fill(1.); |
55 | |||
56 |
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2 | Vector q = pinocchio::randomConfiguration(model, lb, ub); |
57 |
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2 | Vector v = Vector::Ones(robot.nv()); |
58 |
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2 | Data data(robot.model()); |
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2 | robot.computeAllTerms(data, q, v); |
60 | |||
61 |
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2 | Vector3 com = robot.com(data); |
62 |
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2 | std::cout << com << std::endl; |
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2 | BOOST_CHECK(robot.nq() == 38); |
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2 | BOOST_CHECK(robot.nv() == 37); |
65 | 2 | } | |
66 | |||
67 | BOOST_AUTO_TEST_SUITE_END() | ||
68 |