138 lines
3.8 KiB
C++
138 lines
3.8 KiB
C++
#include <UnitTest++.h>
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#include <iostream>
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#include "Fixtures.h"
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#include "Human36Fixture.h"
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#include "rbdl/rbdl_mathutils.h"
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#include "rbdl/Logging.h"
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#include "rbdl/Model.h"
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#include "rbdl/Kinematics.h"
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#include "rbdl/Dynamics.h"
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#include "rbdl/Constraints.h"
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using namespace std;
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using namespace RigidBodyDynamics;
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using namespace RigidBodyDynamics::Math;
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const double TEST_PREC = 1.0e-12;
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struct CustomEulerZYXJoint : public CustomJoint {
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CustomEulerZYXJoint () {
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mDoFCount = 3;
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S = MatrixNd::Zero (6,3);
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};
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virtual void jcalc (Model &model,
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unsigned int joint_id,
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const Math::VectorNd &q,
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const Math::VectorNd &qdot
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) {
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double q0 = q[model.mJoints[joint_id].q_index];
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double q1 = q[model.mJoints[joint_id].q_index + 1];
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double q2 = q[model.mJoints[joint_id].q_index + 2];
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double s0 = sin (q0);
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double c0 = cos (q0);
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double s1 = sin (q1);
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double c1 = cos (q1);
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double s2 = sin (q2);
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double c2 = cos (q2);
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model.X_J[joint_id].E = Matrix3d(
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c0 * c1, s0 * c1, -s1,
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c0 * s1 * s2 - s0 * c2, s0 * s1 * s2 + c0 * c2, c1 * s2,
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c0 * s1 * c2 + s0 * s2, s0 * s1 * c2 - c0 * s2, c1 * c2
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);
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S(0,0) = -s1;
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S(0,2) = 1.;
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S(1,0) = c1 * s2;
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S(1,1) = c2;
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S(2,0) = c1 * c2;
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S(2,1) = - s2;
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double qdot0 = qdot[model.mJoints[joint_id].q_index];
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double qdot1 = qdot[model.mJoints[joint_id].q_index + 1];
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double qdot2 = qdot[model.mJoints[joint_id].q_index + 2];
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model.v_J[joint_id] = S * Vector3d (qdot0, qdot1, qdot2);
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model.c_J[joint_id].set(
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- c1 * qdot0 * qdot1,
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-s1 * s2 * qdot0 * qdot1 + c1 * c2 * qdot0 * qdot2 - s2 * qdot1 * qdot2,
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-s1 * c2 * qdot0 * qdot1 - c1 * s2 * qdot0 * qdot2 - c2 * qdot1 * qdot2,
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0., 0., 0.
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);
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}
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virtual void jcalc_X_lambda_S (Model &model,
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unsigned int joint_id,
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const Math::VectorNd &q
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) {
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// TODO
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assert (false && "Not yet implemented!");
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}
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};
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struct CustomJointFixture {
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CustomJointFixture () {
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custom_joint = new CustomEulerZYXJoint();
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Matrix3d inertia = Matrix3d::Identity(3,3);
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body = Body (1., Vector3d (1.1, 1.2, 1.3), inertia);
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reference_body_id = reference_model.AddBody (0,SpatialTransform(), Joint(JointTypeEulerZYX), body);
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custom_body_id = custom_model.AddBodyCustomJoint (0, SpatialTransform(), custom_joint, body);
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q = VectorNd::Zero (reference_model.q_size);
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qdot = VectorNd::Zero (reference_model.qdot_size);
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qddot = VectorNd::Zero (reference_model.qdot_size);
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tau = VectorNd::Zero (reference_model.qdot_size);
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}
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~CustomJointFixture () {
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delete custom_joint;
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}
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Model reference_model;
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Model custom_model;
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Body body;
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CustomJoint* custom_joint;
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unsigned int reference_body_id;
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unsigned int custom_body_id;
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VectorNd q;
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VectorNd qdot;
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VectorNd qddot;
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VectorNd tau;
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};
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TEST_FIXTURE ( CustomJointFixture, UpdateKinematics ) {
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for (unsigned int i = 0; i < 3; i++) {
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q[i] = i * 0.1;
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qdot[i] = i * 0.15;
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qddot[i] = i * 0.17;
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}
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UpdateKinematics (reference_model, q, qdot, qddot);
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UpdateKinematics (custom_model, q, qdot, qddot);
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CHECK_ARRAY_EQUAL (reference_model.X_base[reference_body_id].E.data(), custom_model.X_base[custom_body_id].E.data(), 9);
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CHECK_ARRAY_EQUAL (reference_model.v[reference_body_id].data(), custom_model.v[custom_body_id].data(), 6);
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CHECK_ARRAY_EQUAL (reference_model.a[reference_body_id].data(), custom_model.a[custom_body_id].data(), 6);
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}
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// TODO: implement test for UpdateKinematicsCustom
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// TODO: implement test for Jacobians
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// TODO: implement test for InverseDynamics
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// TODO: implement test for CompositeRigidBodyAlgorithm
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// TODO: implement test for ForwardDynamics
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// TODO: implement test for CalcMInvTimestau
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// TODO: implement test for ForwardDynamicsContacts
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