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// |
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// Copyright (c) 2017 CNRS |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#include <iostream> |
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#include <boost/test/unit_test.hpp> |
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#include <boost/utility/binary.hpp> |
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#include "tsid/robots/robot-wrapper.hpp" |
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#include <pinocchio/algorithm/joint-configuration.hpp> |
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using namespace tsid; |
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using namespace tsid::math; |
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using namespace tsid::robots; |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_robot_wrapper) { |
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using namespace std; |
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using namespace pinocchio; |
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const string romeo_model_path = TSID_SOURCE_DIR "/models/romeo"; |
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vector<string> package_dirs; |
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✓✗ | 2 |
package_dirs.push_back(romeo_model_path); |
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✓✗ | 4 |
string urdfFileName = package_dirs[0] + "/urdf/romeo.urdf"; |
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RobotWrapper robot(urdfFileName, package_dirs, |
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pinocchio::JointModelFreeFlyer(), false); |
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✓✗ | 2 |
const Model& model = robot.model(); |
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// Update default config bounds to take into account the Free Flyer |
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✓✗ | 4 |
Vector lb(model.lowerPositionLimit); |
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lb.head<3>().fill(-10.); |
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lb.segment<4>(3).fill(-1.); |
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✓✗ | 4 |
Vector ub(model.upperPositionLimit); |
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ub.head<3>().fill(10.); |
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ub.segment<4>(3).fill(1.); |
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✓✗ | 4 |
Vector q = pinocchio::randomConfiguration(model, lb, ub); |
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✓✗✓✗ ✓✗ |
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Vector v = Vector::Ones(robot.nv()); |
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Data data(robot.model()); |
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robot.computeAllTerms(data, q, v); |
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Vector3 com = robot.com(data); |
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std::cout << com << std::endl; |
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BOOST_CHECK(robot.nq() == 38); |
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BOOST_CHECK(robot.nv() == 37); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
| Generated by: GCOVR (Version 4.2) |