GCC Code Coverage Report

Directory: ./
File: tests/tasks.cpp
Date: 2025-05-10 01:12:46
Exec Total Coverage
Lines: 233 235 99.1%
Branches: 904 1810 49.9%
Line Branch Exec Source
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/math/utils.hpp>
24 #include <tsid/robots/robot-wrapper.hpp>
25
26 #include <tsid/tasks/task-se3-equality.hpp>
27 #include <tsid/tasks/task-com-equality.hpp>
28 #include <tsid/tasks/task-joint-posture.hpp>
29 #include <tsid/tasks/task-joint-bounds.hpp>
30 #include <tsid/tasks/task-joint-posVelAcc-bounds.hpp>
31
32 #include <tsid/trajectories/trajectory-se3.hpp>
33 #include <tsid/trajectories/trajectory-euclidian.hpp>
34
35 #include <pinocchio/parsers/srdf.hpp>
36 #include <pinocchio/algorithm/joint-configuration.hpp>
37 #include <pinocchio/algorithm/center-of-mass.hpp>
38 #include <Eigen/SVD>
39
40 using namespace tsid;
41 using namespace trajectories;
42 using namespace math;
43 using namespace tasks;
44 using namespace std;
45 using namespace Eigen;
46 using namespace tsid::robots;
47
48 #define REQUIRE_FINITE(A) BOOST_REQUIRE_MESSAGE(isFinite(A), #A << ": " << A)
49
50 const string romeo_model_path = TSID_SOURCE_DIR "/models/romeo";
51
52 #ifndef NDEBUG
53 const int max_it = 100;
54 #else
55 const int max_it = 10000;
56 #endif
57
58 BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
59
60
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 4 BOOST_AUTO_TEST_CASE(test_task_se3_equality) {
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 2 cout << "\n\n*********** TEST TASK SE3 EQUALITY ***********\n";
62 2 vector<string> package_dirs;
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 2 package_dirs.push_back(romeo_model_path);
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 2 string urdfFileName = package_dirs[0] + "/urdf/romeo.urdf";
65 RobotWrapper robot(urdfFileName, package_dirs,
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 2 pinocchio::JointModelFreeFlyer(), false);
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 4 TaskSE3Equality task("task-se3", robot, "RWristPitch");
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 2 VectorXd Kp = VectorXd::Ones(6);
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 2 VectorXd Kd = 2 * VectorXd::Ones(6);
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 2 task.Kp(Kp);
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 2 task.Kd(Kd);
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 2 BOOST_CHECK(task.Kp().isApprox(Kp));
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 2 BOOST_CHECK(task.Kd().isApprox(Kd));
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 2 pinocchio::SE3 M_ref = pinocchio::SE3::Random();
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 2 TrajectoryBase *traj = new TrajectorySE3Constant("traj_SE3", M_ref);
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 2 TrajectorySample sample;
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81 2 double t = 0.0;
82 2 const double dt = 0.001;
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 2 MatrixXd Jpinv(robot.nv(), 6);
84 2 double error, error_past = 1e100;
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 2 VectorXd q = neutral(robot.model());
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 2 VectorXd v = VectorXd::Zero(robot.nv());
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 2 pinocchio::Data data(robot.model());
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 202 for (int i = 0; i < max_it; i++) {
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 200 robot.computeAllTerms(data, q, v);
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 200 sample = traj->computeNext();
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 200 task.setReference(sample);
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 200 const ConstraintBase &constraint = task.compute(t, q, v, data);
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 200 BOOST_CHECK(constraint.rows() == 6);
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 200 BOOST_CHECK(static_cast<tsid::math::Index>(constraint.cols()) ==
95 static_cast<tsid::math::Index>(robot.nv()));
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 200 REQUIRE_FINITE(constraint.matrix());
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 200 BOOST_REQUIRE(isFinite(constraint.vector()));
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 200 pseudoInverse(constraint.matrix(), Jpinv, 1e-4);
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 200 ConstRefVector dv = Jpinv * constraint.vector();
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 200 BOOST_REQUIRE(isFinite(Jpinv));
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 200 BOOST_CHECK(MatrixXd::Identity(6, 6).isApprox(constraint.matrix() * Jpinv));
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 200 if (!isFinite(dv)) {
104 ✗ cout << "Jpinv" << Jpinv.transpose() << endl;
105 ✗ cout << "b" << constraint.vector().transpose() << endl;
106 }
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 200 REQUIRE_FINITE(dv.transpose());
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 200 v += dt * dv;
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 200 q = pinocchio::integrate(robot.model(), q, dt * v);
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 200 BOOST_REQUIRE(isFinite(v));
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 200 BOOST_REQUIRE(isFinite(q));
113 200 t += dt;
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 200 error = task.position_error().norm();
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 200 BOOST_REQUIRE(isFinite(task.position_error()));
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 200 BOOST_CHECK(error <= error_past);
118 200 error_past = error;
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 200 if (i % 100 == 0)
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 2 cout << "Time " << t << "\t Pos error " << error << "\t Vel error "
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 2 << task.velocity_error().norm() << endl;
123 200 }
124 2 }
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 4 BOOST_AUTO_TEST_CASE(test_task_com_equality) {
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 2 cout << "\n\n*********** TEST TASK COM EQUALITY ***********\n";
128 2 vector<string> package_dirs;
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 2 package_dirs.push_back(romeo_model_path);
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 2 string urdfFileName = package_dirs[0] + "/urdf/romeo.urdf";
131 RobotWrapper robot(urdfFileName, package_dirs,
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 2 pinocchio::JointModelFreeFlyer(), false);
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 2 pinocchio::Data data(robot.model());
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 2 const string srdfFileName = package_dirs[0] + "/srdf/romeo_collision.srdf";
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 2 pinocchio::srdf::loadReferenceConfigurations(robot.model(), srdfFileName,
138 false);
139
140 // const unsigned int nv = robot.nv();
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 2 VectorXd q = neutral(robot.model());
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 2 std::cout << "q: " << q.transpose() << std::endl;
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 2 q(2) += 0.84;
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 2 pinocchio::centerOfMass(robot.model(), data, q);
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 4 TaskComEquality task("task-com", robot);
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 2 VectorXd Kp = VectorXd::Ones(3);
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 2 VectorXd Kd = 2.0 * VectorXd::Ones(3);
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 2 task.Kp(Kp);
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 2 task.Kd(Kd);
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 2 BOOST_CHECK(task.Kp().isApprox(Kp));
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 2 BOOST_CHECK(task.Kd().isApprox(Kd));
155
156 math::Vector3 com_ref =
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 2 data.com[0] + pinocchio::SE3::Vector3(0.02, 0.02, 0.02);
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 2 TrajectoryBase *traj = new TrajectoryEuclidianConstant("traj_com", com_ref);
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 2 TrajectorySample sample;
160
161 2 double t = 0.0;
162 2 const double dt = 0.001;
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 2 MatrixXd Jpinv(robot.nv(), 3);
164 2 double error, error_past = 1e100;
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 2 VectorXd v = VectorXd::Zero(robot.nv());
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 202 for (int i = 0; i < max_it; i++) {
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 200 robot.computeAllTerms(data, q, v);
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 200 sample = traj->computeNext();
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 200 task.setReference(sample);
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 200 const ConstraintBase &constraint = task.compute(t, q, v, data);
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 200 BOOST_CHECK(constraint.rows() == 3);
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 200 BOOST_CHECK(static_cast<tsid::math::Index>(constraint.cols()) ==
173 static_cast<tsid::math::Index>(robot.nv()));
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 200 BOOST_REQUIRE(isFinite(constraint.matrix()));
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 200 BOOST_REQUIRE(isFinite(constraint.vector()));
176
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 200 pseudoInverse(constraint.matrix(), Jpinv, 1e-5);
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 200 ConstRefVector dv = Jpinv * constraint.vector();
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 200 BOOST_REQUIRE(isFinite(Jpinv));
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 200 BOOST_CHECK(MatrixXd::Identity(constraint.rows(), constraint.rows())
181 .isApprox(constraint.matrix() * Jpinv));
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 200 BOOST_REQUIRE(isFinite(dv));
183
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 200 v += dt * dv;
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 200 q = pinocchio::integrate(robot.model(), q, dt * v);
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 200 BOOST_REQUIRE(isFinite(v));
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 200 BOOST_REQUIRE(isFinite(q));
188 200 t += dt;
189
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 200 error = task.position_error().norm();
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 200 BOOST_REQUIRE(isFinite(task.position_error()));
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 200 BOOST_CHECK((error - error_past) <= 1e-4);
193 200 error_past = error;
194
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 200 if (error < 1e-8) break;
196
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 200 if (i % 100 == 0)
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 2 cout << "Time " << t << "\t CoM pos error " << error
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 2 << "\t CoM vel error " << task.velocity_error().norm() << endl;
200
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 200 }
201 2 }
202
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 4 BOOST_AUTO_TEST_CASE(test_task_joint_posture) {
204
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 2 cout << "\n\n*********** TEST TASK JOINT POSTURE ***********\n";
205 2 vector<string> package_dirs;
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 2 package_dirs.push_back(romeo_model_path);
207
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 2 string urdfFileName = package_dirs[0] + "/urdf/romeo.urdf";
208 RobotWrapper robot(urdfFileName, package_dirs,
209
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 2 pinocchio::JointModelFreeFlyer(), false);
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 2 const unsigned int na = robot.nv() - 6;
211
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 2 cout << "Gonna create task\n";
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 4 TaskJointPosture task("task-posture", robot);
214
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 2 cout << "Gonna set gains\n" << na << endl;
216
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 2 VectorXd Kp = VectorXd::Ones(na);
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 2 VectorXd Kd = 2.0 * Kp;
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 2 task.Kp(Kp);
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 2 task.Kd(Kd);
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 2 BOOST_CHECK(task.Kp().isApprox(Kp));
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 2 BOOST_CHECK(task.Kd().isApprox(Kd));
222
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 2 cout << "Gonna create reference trajectory\n";
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 2 ConstRefVector q_ref = math::Vector::Random(na);
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 2 TrajectoryBase *traj = new TrajectoryEuclidianConstant("traj_joint", q_ref);
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 2 TrajectorySample sample;
227
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 2 cout << "Gonna set up for simulation\n";
229 2 double t = 0.0;
230 2 const double dt = 0.001;
231
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 2 MatrixXd Jpinv(robot.nv(), na);
232 2 double error, error_past = 1e100;
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 2 VectorXd q = neutral(robot.model());
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 2 VectorXd v = VectorXd::Zero(robot.nv());
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 2 pinocchio::Data data(robot.model());
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 202 for (int i = 0; i < max_it; i++) {
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 200 robot.computeAllTerms(data, q, v);
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 200 sample = traj->computeNext();
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 200 task.setReference(sample);
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 200 const ConstraintBase &constraint = task.compute(t, q, v, data);
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 200 BOOST_CHECK(constraint.rows() == na);
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 200 BOOST_CHECK(static_cast<tsid::math::Index>(constraint.cols()) ==
243 static_cast<tsid::math::Index>(robot.nv()));
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 200 BOOST_REQUIRE(isFinite(constraint.matrix()));
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 200 BOOST_REQUIRE(isFinite(constraint.vector()));
246
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 200 pseudoInverse(constraint.matrix(), Jpinv, 1e-5);
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 200 ConstRefVector dv = Jpinv * constraint.vector();
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 200 BOOST_REQUIRE(isFinite(Jpinv));
250
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 200 BOOST_CHECK(
251 MatrixXd::Identity(na, na).isApprox(constraint.matrix() * Jpinv));
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 200 BOOST_REQUIRE(isFinite(dv));
253
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 200 v += dt * dv;
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 200 q = pinocchio::integrate(robot.model(), q, dt * v);
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 200 BOOST_REQUIRE(isFinite(v));
257
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 200 BOOST_REQUIRE(isFinite(q));
258 200 t += dt;
259
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 200 error = task.position_error().norm();
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 200 BOOST_REQUIRE(isFinite(task.position_error()));
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 200 BOOST_CHECK(error <= error_past);
263 200 error_past = error;
264
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 200 if (i % 100 == 0)
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 2 cout << "Time " << t << "\t pos error " << error << "\t vel error "
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 2 << task.velocity_error().norm() << endl;
268 200 }
269 2 }
270
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 4 BOOST_AUTO_TEST_CASE(test_task_joint_bounds) {
272
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 2 cout << "\n\n*********** TEST TASK JOINT BOUNDS ***********\n";
273 2 vector<string> package_dirs;
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 2 package_dirs.push_back(romeo_model_path);
275
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 2 string urdfFileName = package_dirs[0] + "/urdf/romeo.urdf";
276 RobotWrapper robot(urdfFileName, package_dirs,
277
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 2 pinocchio::JointModelFreeFlyer(), false);
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 2 const unsigned int na = robot.nv() - 6;
279 2 const double dt = 0.001;
280
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 2 cout << "Gonna create task\n";
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 4 TaskJointBounds task("task-joint-bounds", robot, dt);
283
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 2 cout << "Gonna set limits\n" << na << endl;
285
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 2 VectorXd dq_max = VectorXd::Ones(na);
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 2 VectorXd dq_min = -dq_max;
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 2 task.setVelocityBounds(dq_min, dq_max);
288
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 2 BOOST_CHECK(task.getVelocityLowerBounds().isApprox(dq_min));
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 2 BOOST_CHECK(task.getVelocityUpperBounds().isApprox(dq_max));
291
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 2 cout << "Gonna set up for simulation\n";
293 2 double t = 0.0;
294
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 2 VectorXd q = neutral(robot.model());
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 2 VectorXd v = VectorXd::Zero(robot.nv());
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 2 pinocchio::Data data(robot.model());
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 202 for (int i = 0; i < max_it; i++) {
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 200 robot.computeAllTerms(data, q, v);
300
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 200 const ConstraintBase &constraint = task.compute(t, q, v, data);
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 200 BOOST_CHECK(constraint.rows() == (Eigen::Index)robot.nv());
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 200 BOOST_CHECK(static_cast<tsid::math::Index>(constraint.cols()) ==
303 static_cast<tsid::math::Index>(robot.nv()));
304
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 200 BOOST_REQUIRE(isFinite(constraint.lowerBound()));
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 200 BOOST_REQUIRE(isFinite(constraint.upperBound()));
306
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 200 BOOST_REQUIRE(isFinite(v));
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 200 BOOST_REQUIRE(isFinite(q));
309 200 t += dt;
310 }
311 2 }
312
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 4 BOOST_AUTO_TEST_CASE(test_task_joint_posVelAcc_bounds) {
314
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 2 cout << "\n\n*********** TEST TASK JOINT POS VEL ACC BOUNDS ***********\n";
315 2 vector<string> package_dirs;
316
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 2 package_dirs.push_back(romeo_model_path);
317
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 2 string urdfFileName = package_dirs[0] + "/urdf/romeo.urdf";
318 RobotWrapper robot(urdfFileName, package_dirs,
319
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 2 pinocchio::JointModelFreeFlyer(), false);
320
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 2 const unsigned int na = robot.nv() - 6;
321 2 const double dt = 0.001;
322
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 2 cout << "Gonna create task\n";
324
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 4 TaskJointPosVelAccBounds task("task-joint-posVelAcc-bounds", robot, dt);
325
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 2 cout << "Gonna set limits\n" << na << endl;
327
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 2 VectorXd dq_max = VectorXd::Ones(na);
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 2 VectorXd dq_min = -dq_max;
329
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 2 task.setPositionBounds(dq_min, dq_max);
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 2 task.setVelocityBounds(dq_max);
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 2 task.setAccelerationBounds(dq_max);
333
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 2 BOOST_CHECK(task.getPositionLowerBounds().isApprox(dq_min));
335
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 2 BOOST_CHECK(task.getPositionUpperBounds().isApprox(dq_max));
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 2 BOOST_CHECK(task.getVelocityBounds().isApprox(dq_max));
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 2 BOOST_CHECK(task.getAccelerationBounds().isApprox(dq_max));
338
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 2 cout << "Gonna set up for simulation\n";
340 2 double t = 0.0;
341
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 2 VectorXd q = neutral(robot.model());
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 2 VectorXd v = VectorXd::Zero(robot.nv());
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 2 pinocchio::Data data(robot.model());
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 202 for (int i = 0; i < max_it; i++) {
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 200 robot.computeAllTerms(data, q, v);
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 200 const ConstraintBase &constraint = task.compute(t, q, v, data);
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 200 BOOST_CHECK(constraint.rows() == (Eigen::Index)robot.na());
349
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 200 BOOST_CHECK(static_cast<tsid::math::Index>(constraint.cols()) ==
350 static_cast<tsid::math::Index>(robot.nv()));
351
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 200 BOOST_REQUIRE(isFinite(constraint.lowerBound()));
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 200 BOOST_REQUIRE(isFinite(constraint.upperBound()));
353
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 200 BOOST_REQUIRE(isFinite(v));
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 200 BOOST_REQUIRE(isFinite(q));
356 200 t += dt;
357 }
358 2 }
359
360 BOOST_AUTO_TEST_SUITE_END()
361