716 lines
23 KiB
C++
716 lines
23 KiB
C++
#include <UnitTest++.h>
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#include <iostream>
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#include <limits>
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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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#include "Fixtures.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-13;
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struct DynamicsFixture {
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DynamicsFixture () {
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ClearLogOutput();
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model = new Model;
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model->gravity = Vector3d (0., -9.81, 0.);
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}
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~DynamicsFixture () {
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delete model;
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}
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Model *model;
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};
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TEST_FIXTURE(DynamicsFixture, TestCalcDynamicSingleChain) {
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Body body(1., Vector3d (1., 0., 0.), Vector3d (1., 1., 1.));
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Joint joint ( SpatialVector (0., 0., 1., 0., 0., 0.));
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model->AddBody(0, Xtrans(Vector3d(0., 0., 0.)), joint, body);
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// Initialization of the input vectors
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VectorNd Q = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd QDot = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd QDDot = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd Tau = VectorNd::Constant ((size_t) model->dof_count, 0.);
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ForwardDynamics(*model, Q, QDot, Tau, QDDot);
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unsigned int i;
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for (i = 0; i < QDDot.size(); i++) {
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LOG << "QDDot[" << i << "] = " << QDDot[i] << endl;
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}
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for (i = 0; i < model->a.size(); i++) {
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LOG << "a[" << i << "] = " << model->a[i] << endl;
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}
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CHECK_EQUAL (-4.905, QDDot[0]);
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}
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TEST_FIXTURE(DynamicsFixture, TestCalcDynamicSpatialInertiaSingleChain) {
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// This function checks the value for a non-trivial spatial inertia
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Body body(1., Vector3d (1.5, 1., 1.), Vector3d (1., 2., 3.));
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Joint joint ( SpatialVector (0., 0., 1., 0., 0., 0.));
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model->AddBody(0, Xtrans(Vector3d(0., 0., 0.)), joint, body);
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// Initialization of the input vectors
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VectorNd Q = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd QDot = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd QDDot = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd Tau = VectorNd::Constant ((size_t) model->dof_count, 0.);
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ForwardDynamics(*model, Q, QDot, Tau, QDDot);
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unsigned int i;
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for (i = 0; i < QDDot.size(); i++) {
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LOG << "QDDot[" << i << "] = " << QDDot[i] << endl;
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}
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for (i = 0; i < model->a.size(); i++) {
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LOG << "a[" << i << "] = " << model->a[i] << endl;
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}
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CHECK_EQUAL (-2.3544, QDDot[0]);
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}
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TEST_FIXTURE(DynamicsFixture, TestCalcDynamicDoubleChain) {
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Body body_a (1., Vector3d (1., 0., 0.), Vector3d (1., 1., 1.));
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Joint joint_a ( SpatialVector (0., 0., 1., 0., 0., 0.));
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model->AddBody(0, Xtrans(Vector3d(0., 0., 0.)), joint_a, body_a);
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Body body_b (1., Vector3d (1., 0., 0.), Vector3d (1., 1., 1.));
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Joint joint_b ( SpatialVector (0., 0., 1., 0., 0., 0.));
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model->AddBody(1, Xtrans(Vector3d(1., 0., 0.)), joint_b, body_b);
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// Initialization of the input vectors
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VectorNd Q = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd QDot = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd QDDot = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd Tau = VectorNd::Constant ((size_t) model->dof_count, 0.);
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// cout << "--- Double Chain ---" << endl;
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ForwardDynamics(*model, Q, QDot, Tau, QDDot);
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unsigned int i;
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for (i = 0; i < QDDot.size(); i++) {
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LOG << "QDDot[" << i << "] = " << QDDot[i] << endl;
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}
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for (i = 0; i < model->a.size(); i++) {
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LOG << "a[" << i << "] = " << model->a[i] << endl;
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}
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// cout << LogOutput.str() << endl;
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CHECK_CLOSE (-5.88600000000000E+00, QDDot[0], TEST_PREC);
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CHECK_CLOSE ( 3.92400000000000E+00, QDDot[1], TEST_PREC);
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}
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TEST_FIXTURE(DynamicsFixture, TestCalcDynamicTripleChain) {
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Body body_a (1., Vector3d (1., 0., 0.), Vector3d (1., 1., 1.));
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Joint joint_a ( SpatialVector (0., 0., 1., 0., 0., 0.));
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model->AddBody(0, Xtrans(Vector3d(0., 0., 0.)), joint_a, body_a);
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Body body_b (1., Vector3d (1., 0., 0.), Vector3d (1., 1., 1.));
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Joint joint_b ( SpatialVector (0., 0., 1., 0., 0., 0.));
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model->AddBody(1, Xtrans(Vector3d(1., 0., 0.)), joint_b, body_b);
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Body body_c (1., Vector3d (1., 0., 0.), Vector3d (1., 1., 1.));
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Joint joint_c ( SpatialVector (0., 0., 1., 0., 0., 0.));
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model->AddBody(2, Xtrans(Vector3d(1., 0., 0.)), joint_c, body_c);
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// Initialization of the input vectors
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VectorNd Q = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd QDot = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd QDDot = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd Tau = VectorNd::Constant ((size_t) model->dof_count, 0.);
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// cout << "--- Triple Chain ---" << endl;
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ForwardDynamics(*model, Q, QDot, Tau, QDDot);
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unsigned int i;
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for (i = 0; i < QDDot.size(); i++) {
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LOG << "QDDot[" << i << "] = " << QDDot[i] << endl;
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}
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for (i = 0; i < model->a.size(); i++) {
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LOG << "a[" << i << "] = " << model->a[i] << endl;
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}
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// cout << LogOutput.str() << endl;
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CHECK_CLOSE (-6.03692307692308E+00, QDDot[0], TEST_PREC);
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CHECK_CLOSE ( 3.77307692307692E+00, QDDot[1], TEST_PREC);
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CHECK_CLOSE ( 1.50923076923077E+00, QDDot[2], TEST_PREC);
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}
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TEST_FIXTURE(DynamicsFixture, TestCalcDynamicDoubleChain3D) {
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Body body_a (1., Vector3d (1., 0., 0.), Vector3d (1., 1., 1.));
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Joint joint_a ( SpatialVector (0., 0., 1., 0., 0., 0.));
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model->AddBody(0, Xtrans(Vector3d(0., 0., 0.)), joint_a, body_a);
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Body body_b (1., Vector3d (0., 1., 0.), Vector3d (1., 1., 1.));
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Joint joint_b ( SpatialVector (0., 1., 0., 0., 0., 0.));
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model->AddBody(1, Xtrans(Vector3d(1., 0., 0.)), joint_b, body_b);
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// Initialization of the input vectors
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VectorNd Q = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd QDot = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd QDDot = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd Tau = VectorNd::Constant ((size_t) model->dof_count, 0.);
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// cout << "--- Double Chain 3D ---" << endl;
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ForwardDynamics(*model, Q, QDot, Tau, QDDot);
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unsigned int i;
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for (i = 0; i < QDDot.size(); i++) {
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LOG << "QDDot[" << i << "] = " << QDDot[i] << endl;
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}
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for (i = 0; i < model->a.size(); i++) {
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LOG << "a[" << i << "] = " << model->a[i] << endl;
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}
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// cout << LogOutput.str() << endl;
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CHECK_CLOSE (-3.92400000000000E+00, QDDot[0], TEST_PREC);
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CHECK_CLOSE ( 0.00000000000000E+00, QDDot[1], TEST_PREC);
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}
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TEST_FIXTURE(DynamicsFixture, TestCalcDynamicSimpleTree3D) {
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Body body_a (1., Vector3d (1., 0., 0.), Vector3d (1., 1., 1.));
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Joint joint_a ( SpatialVector (0., 0., 1., 0., 0., 0.));
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model->AddBody(0, Xtrans(Vector3d(0., 0., 0.)), joint_a, body_a);
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Body body_b1 (1., Vector3d (0., 1., 0.), Vector3d (1., 1., 1.));
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Joint joint_b1 ( SpatialVector (0., 1., 0., 0., 0., 0.));
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model->AddBody(1, Xtrans(Vector3d(1., 0., 0.)), joint_b1, body_b1);
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Body body_c1 (1., Vector3d (0., 0., 1.), Vector3d (1., 1., 1.));
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Joint joint_c1 ( SpatialVector (1., 0., 0., 0., 0., 0.));
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model->AddBody(2, Xtrans(Vector3d(0., 1., 0.)), joint_c1, body_c1);
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Body body_b2 (1., Vector3d (0., 1., 0.), Vector3d (1., 1., 1.));
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Joint joint_b2 ( SpatialVector (0., 1., 0., 0., 0., 0.));
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model->AddBody(1, Xtrans(Vector3d(-0.5, 0., 0.)), joint_b2, body_b2);
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Body body_c2 (1., Vector3d (0., 0., 1.), Vector3d (1., 1., 1.));
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Joint joint_c2 ( SpatialVector (1., 0., 0., 0., 0., 0.));
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model->AddBody(4, Xtrans(Vector3d(0., -0.5, 0.)), joint_c2, body_c2);
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// Initialization of the input vectors
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VectorNd Q = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd QDot = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd QDDot = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd Tau = VectorNd::Constant ((size_t) model->dof_count, 0.);
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// cout << "--- SimpleTree ---" << endl;
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ForwardDynamics(*model, Q, QDot, Tau, QDDot);
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unsigned int i;
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for (i = 0; i < QDDot.size(); i++) {
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LOG << "QDDot[" << i << "] = " << QDDot[i] << endl;
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}
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for (i = 0; i < model->a.size(); i++) {
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LOG << "a[" << i << "] = " << model->a[i] << endl;
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}
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// cout << LogOutput.str() << endl;
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CHECK_CLOSE (-1.60319066147860E+00, QDDot[0], TEST_PREC);
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CHECK_CLOSE (-5.34396887159533E-01, QDDot[1], TEST_PREC);
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CHECK_CLOSE ( 4.10340466926070E+00, QDDot[2], TEST_PREC);
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CHECK_CLOSE ( 2.67198443579767E-01, QDDot[3], TEST_PREC);
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CHECK_CLOSE ( 5.30579766536965E+00, QDDot[4], TEST_PREC);
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}
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TEST (TestForwardDynamicsLagrangian) {
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Model model;
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Body base_body(1., Vector3d (1., 0., 0.), Vector3d (1., 1., 1.));
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model.AddBody (0, SpatialTransform(),
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Joint (
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SpatialVector (0., 0., 0., 1., 0., 0.),
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SpatialVector (0., 0., 0., 0., 1., 0.),
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SpatialVector (0., 0., 0., 0., 0., 1.),
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SpatialVector (0., 0., 1., 0., 0., 0.),
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SpatialVector (0., 1., 0., 0., 0., 0.),
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SpatialVector (1., 0., 0., 0., 0., 0.)
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),
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base_body);
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// Initialization of the input vectors
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VectorNd Q = VectorNd::Zero (model.dof_count);
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VectorNd QDot = VectorNd::Zero (model.dof_count);
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VectorNd Tau = VectorNd::Zero (model.dof_count);
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VectorNd QDDot_aba = VectorNd::Zero (model.dof_count);
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VectorNd QDDot_lagrangian = VectorNd::Zero (model.dof_count);
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Q[0] = 1.1;
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Q[1] = 1.2;
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Q[2] = 1.3;
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Q[3] = 0.1;
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Q[4] = 0.2;
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Q[5] = 0.3;
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QDot[0] = 1.1;
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QDot[1] = -1.2;
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QDot[2] = 1.3;
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QDot[3] = -0.1;
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QDot[4] = 0.2;
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QDot[5] = -0.3;
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Tau[0] = 2.1;
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Tau[1] = 2.2;
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Tau[2] = 2.3;
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Tau[3] = 1.1;
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Tau[4] = 1.2;
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Tau[5] = 1.3;
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ForwardDynamics(model, Q, QDot, Tau, QDDot_aba);
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ForwardDynamicsLagrangian(model, Q, QDot, Tau, QDDot_lagrangian);
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CHECK_EQUAL (QDDot_aba.size(), QDDot_lagrangian.size());
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CHECK_ARRAY_CLOSE (QDDot_aba.data(), QDDot_lagrangian.data(), QDDot_aba.size(), TEST_PREC);
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}
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/*
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* A simple test for a model with 3 rotational dof. The reference value was
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* computed with Featherstones spatial_v1 code. This test was written
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* because my benchmark tool showed up inconsistencies, however this was
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* due to the missing gravity term. But as the test now works, I just leave
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* it here.
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*/
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TEST (TestForwardDynamics3DoFModel) {
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Model model;
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model.gravity = Vector3d (0., -9.81, 0.);
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Body null_body (0., Vector3d(0., 0., 0.), Vector3d (0., 0., 0.));
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Body base_body (1., Vector3d(0., 0.5, 0.), Vector3d (1., 1., 1.));
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Joint joint_rot_z ( SpatialVector (0., 0., 1., 0., 0., 0.));
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Joint joint_rot_y ( SpatialVector (0., 1., 0., 0., 0., 0.));
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Joint joint_rot_x ( SpatialVector (1., 0., 0., 0., 0., 0.));
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unsigned int base_id_rot_z, base_id_rot_y;
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// we can reuse both bodies and joints as they are copied
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base_id_rot_z = model.AddBody (0, Xtrans (Vector3d(0., 0., 0.)), joint_rot_z, null_body);
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base_id_rot_y = model.AddBody (base_id_rot_z, Xtrans (Vector3d(0., 0., 0.)), joint_rot_y, null_body);
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model.AddBody (base_id_rot_y, Xtrans (Vector3d(0., 0., 0.)), joint_rot_x, base_body);
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// Initialization of the input vectors
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VectorNd Q = VectorNd::Constant ((size_t) model.dof_count, 0.);
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VectorNd QDot = VectorNd::Constant ((size_t) model.dof_count, 0.);
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VectorNd Tau = VectorNd::Constant ((size_t) model.dof_count, 0.);
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VectorNd QDDot = VectorNd::Constant ((size_t) model.dof_count, 0.);
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VectorNd QDDot_ref = VectorNd::Constant ((size_t) model.dof_count, 0.);
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Q[0] = 1.;
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ClearLogOutput();
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ForwardDynamics (model, Q, QDot, Tau, QDDot);
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// cout << LogOutput.str() << endl;
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QDDot_ref[0] = 3.301932144386186;
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CHECK_ARRAY_CLOSE (QDDot_ref.data(), QDDot.data(), QDDot.size(), TEST_PREC);
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}
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/*
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* Another simple 3 dof model test which showed some problems when
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* computing forward dynamics with the Lagrangian formulation. A proplem
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* occured as the CRBA does not update the kinematics of the model, hence
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* invalid body transformations and joint axis were used in the CRBA.
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* Running the CRBA after the InverseDynamics calculation fixes this. This
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* test ensures that the error does not happen when calling ForwardLagrangian.
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*/
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TEST (TestForwardDynamics3DoFModelLagrangian) {
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Model model;
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model.gravity = Vector3d (0., -9.81, 0.);
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Body null_body (0., Vector3d(0., 0., 0.), Vector3d (0., 0., 0.));
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Body base_body (1., Vector3d(0., 0.5, 0.), Vector3d (1., 1., 1.));
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Joint joint_rot_z ( SpatialVector (0., 0., 1., 0., 0., 0.));
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Joint joint_rot_y ( SpatialVector (0., 1., 0., 0., 0., 0.));
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Joint joint_rot_x ( SpatialVector (1., 0., 0., 0., 0., 0.));
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unsigned int base_id_rot_z, base_id_rot_y;
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// we can reuse both bodies and joints as they are copied
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base_id_rot_z = model.AddBody (0, Xtrans (Vector3d(0., 0., 0.)), joint_rot_z, null_body);
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base_id_rot_y = model.AddBody (base_id_rot_z, Xtrans (Vector3d(0., 0., 0.)), joint_rot_y, null_body);
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model.AddBody (base_id_rot_y, Xtrans (Vector3d(0., 0., 0.)), joint_rot_x, base_body);
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// Initialization of the input vectors
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VectorNd Q = VectorNd::Constant ((size_t) model.dof_count, 0.);
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VectorNd QDot = VectorNd::Constant ((size_t) model.dof_count, 0.);
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VectorNd Tau = VectorNd::Constant ((size_t) model.dof_count, 0.);
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VectorNd QDDot_ab = VectorNd::Constant ((size_t) model.dof_count, 0.);
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VectorNd QDDot_lagrangian = VectorNd::Constant ((size_t) model.dof_count, 0.);
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Q[1] = 1.;
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ClearLogOutput();
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Q[0] = 0.;
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Q[1] = 1.;
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Q[2] = 0.;
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ForwardDynamicsLagrangian (model, Q, QDot, Tau, QDDot_lagrangian);
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Q[0] = 0.;
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Q[1] = 0.;
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Q[2] = 1.;
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ForwardDynamicsLagrangian (model, Q, QDot, Tau, QDDot_lagrangian);
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ForwardDynamics (model, Q, QDot, Tau, QDDot_ab);
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// cout << QDDot_lagrangian << endl;
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// cout << LogOutput.str() << endl;
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CHECK_ARRAY_CLOSE (QDDot_ab.data(), QDDot_lagrangian.data(), QDDot_ab.size(), TEST_PREC);
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}
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/*
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* This is a test for a model where I detected incosistencies between the
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* Lagragian method and the ABA.
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*/
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TEST (TestForwardDynamicsTwoLegModelLagrangian) {
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Model *model = NULL;
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unsigned int hip_id,
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upper_leg_right_id,
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lower_leg_right_id,
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foot_right_id,
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upper_leg_left_id,
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lower_leg_left_id,
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foot_left_id;
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Body hip_body,
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upper_leg_right_body,
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lower_leg_right_body,
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foot_right_body,
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upper_leg_left_body,
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lower_leg_left_body,
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foot_left_body;
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Joint joint_rot_z, joint_rot_y, joint_rot_x;
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Joint joint_trans_z, joint_trans_y, joint_trans_x;
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ConstraintSet CS_right;
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ConstraintSet CS_left;
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ConstraintSet CS_both;
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model = new Model();
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model->gravity = Vector3d (0., -9.81, 0.);
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joint_rot_z = Joint ( SpatialVector (0., 0., 1., 0., 0., 0.));
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joint_rot_y = Joint ( SpatialVector (0., 1., 0., 0., 0., 0.));
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joint_rot_x = Joint ( SpatialVector (1., 0., 0., 0., 0., 0.));
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joint_trans_z = Joint ( SpatialVector (0., 0., 0., 0., 0., 1.));
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joint_trans_y = Joint ( SpatialVector (0., 0., 0., 0., 1., 0.));
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joint_trans_x = Joint ( SpatialVector (0., 0., 0., 1., 0., 0.));
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Body null_body (0., Vector3d (0., 0., 0.), Vector3d (0., 0., 0.));
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// hip
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hip_body = Body (1., Vector3d (0., 0., 0.), Vector3d (1., 1., 1.));
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// lateral right
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upper_leg_right_body = Body (1., Vector3d (0., -0.25, 0.), Vector3d (1., 1., 1.));
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lower_leg_right_body = Body (1., Vector3d (0., -0.25, 0.), Vector3d (1., 1., 1.));
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foot_right_body = Body (1., Vector3d (0.15, -0.1, 0.), Vector3d (1., 1., 1.));
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// lateral left
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upper_leg_left_body = Body (1., Vector3d (0., -0.25, 0.), Vector3d (1., 1., 1.));
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lower_leg_left_body = Body (1., Vector3d (0., -0.25, 0.), Vector3d (1., 1., 1.));
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foot_left_body = Body (1., Vector3d (0.15, -0.1, 0.), Vector3d (1., 1., 1.));
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// temporary value to store most recent body id
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unsigned int temp_id;
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// add hip to the model (planar, 3 DOF)
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temp_id = model->AddBody (0, Xtrans (Vector3d (0., 0., 0.)), joint_trans_x, null_body);
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temp_id = model->AddBody (temp_id, Xtrans (Vector3d (0., 0., 0.)), joint_trans_y, null_body);
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hip_id = model->AddBody (temp_id, Xtrans (Vector3d (0., 0., 0.)), joint_rot_z, hip_body);
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//
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// right leg
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//
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// add right upper leg
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temp_id = model->AddBody (hip_id, Xtrans (Vector3d(0., 0., 0.)), joint_rot_z, upper_leg_right_body);
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upper_leg_right_id = temp_id;
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// add the right lower leg (only one DOF)
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temp_id = model->AddBody (temp_id, Xtrans (Vector3d(0., -0.5, 0.)), joint_rot_z, lower_leg_right_body);
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lower_leg_right_id = temp_id;
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// add the right foot (1 DOF)
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temp_id = model->AddBody (temp_id, Xtrans (Vector3d(0., -0.5, 0.)), joint_rot_z, foot_right_body);
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foot_right_id = temp_id;
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//
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// left leg
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//
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// add left upper leg
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temp_id = model->AddBody (hip_id, Xtrans (Vector3d(0., 0., 0.)), joint_rot_z, upper_leg_left_body);
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upper_leg_left_id = temp_id;
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// add the left lower leg (only one DOF)
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temp_id = model->AddBody (temp_id, Xtrans (Vector3d(0., -0.5, 0.)), joint_rot_z, lower_leg_left_body);
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lower_leg_left_id = temp_id;
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// add the left foot (1 DOF)
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temp_id = model->AddBody (temp_id, Xtrans (Vector3d(0., -0.5, 0.)), joint_rot_z, foot_left_body);
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foot_left_id = temp_id;
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LOG << "--- model created (" << model->dof_count << " DOF) ---" << endl;
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// contact data
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CS_right.AddContactConstraint(foot_right_id, Vector3d (0., 0., 0.), Vector3d (1., 0., 0.), "foot_right_x");
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CS_right.AddContactConstraint(foot_right_id, Vector3d (0., 0., 0.), Vector3d (0., 1., 0.), "foot_right_y");
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CS_right.AddContactConstraint(foot_right_id, Vector3d (0., 0., 0.), Vector3d (0., 0., 1.), "foot_right_z");
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CS_left.AddContactConstraint(foot_left_id, Vector3d (0., 0., 0.), Vector3d (1., 0., 0.), "foot_left_x");
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CS_left.AddContactConstraint(foot_left_id, Vector3d (0., 0., 0.), Vector3d (0., 1., 0.), "foot_left_y");
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CS_left.AddContactConstraint(foot_left_id, Vector3d (0., 0., 0.), Vector3d (0., 0., 1.), "foot_left_z");
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CS_both.AddContactConstraint(foot_right_id, Vector3d (0., 0., 0.), Vector3d (1., 0., 0.), "foot_right_x");
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CS_both.AddContactConstraint(foot_right_id, Vector3d (0., 0., 0.), Vector3d (0., 1., 0.), "foot_right_y");
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CS_both.AddContactConstraint(foot_right_id, Vector3d (0., 0., 0.), Vector3d (0., 0., 1.), "foot_right_z");
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CS_both.AddContactConstraint(foot_left_id, Vector3d (0., 0., 0.), Vector3d (1., 0., 0.), "foot_left_x");
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CS_both.AddContactConstraint(foot_left_id, Vector3d (0., 0., 0.), Vector3d (0., 1., 0.), "foot_left_y");
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CS_both.AddContactConstraint(foot_left_id, Vector3d (0., 0., 0.), Vector3d (0., 0., 1.), "foot_left_z");
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CS_right.Bind(*model);
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CS_left.Bind(*model);
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CS_both.Bind(*model);
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VectorNd Q(model->dof_count);
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VectorNd QDot(model->dof_count);
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VectorNd Tau(model->dof_count);
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VectorNd QDDot(model->dof_count);
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VectorNd QDDotABA(model->dof_count);
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Q[0] = 0.8;
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Q[1] = -7.76326e-06;
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Q[2] = -1.58205e-07;
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Q[3] = 1.57391e-07;
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Q[4] = -1.03029e-09;
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Q[5] = 7.92143e-08;
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Q[6] = 1.57391e-07;
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Q[7] = -1.03029e-09;
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Q[8] = 7.92143e-08;
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QDot[0] = -1.77845e-06;
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QDot[1] = -0.00905283;
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QDot[2] = -0.000184484;
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QDot[3] = 0.000183536;
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QDot[4] = -1.20144e-06;
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QDot[5] = 9.23727e-05;
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QDot[6] = 0.000183536;
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QDot[7] = -1.20144e-06;
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QDot[8] = 9.23727e-05;
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Tau[0] = 0;
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Tau[1] = 0;
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Tau[2] = 0;
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Tau[3] = 0.1;
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Tau[4] = 0.1;
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Tau[5] = 0.1;
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Tau[6] = 0.1;
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Tau[7] = 0.1;
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Tau[8] = 0.1;
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// QDDot = 6.31843e-07 -6.12442e-07 9.22595e-14 3.3712e-07 4.27368e-07 -7.91795e-07 3.3712e-07 4.27368e-07 -7.91795e-07
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// QDDAB = -0.00192794 -9.81419 -0.2 0.198972 -0.00130243 0.100141 0.198972 -0.00130243 0.100141
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ForwardDynamics (*model, Q, QDot, Tau, QDDotABA);
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ClearLogOutput();
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ForwardDynamicsLagrangian (*model, Q, QDot, Tau, QDDot);
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// cout << LogOutput.str() << endl;
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// run it again to make sure the calculations give the same results and
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// no invalid state information lingering in the model structure is being used
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ForwardDynamics (*model, Q, QDot, Tau, QDDotABA);
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ClearLogOutput();
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ForwardDynamicsLagrangian (*model, Q, QDot, Tau, QDDot);
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CHECK_ARRAY_CLOSE (QDDotABA.data(), QDDot.data(), QDDotABA.size(), TEST_PREC);
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delete model;
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}
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TEST_FIXTURE(FixedAndMovableJoint, TestForwardDynamicsFixedJoint) {
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Q_fixed[0] = 1.1;
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Q_fixed[1] = 2.2;
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QDot_fixed[0] = -3.2;
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QDot_fixed[1] = -2.3;
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Tau_fixed[0] = 1.2;
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Tau_fixed[1] = 2.1;
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Q = CreateDofVectorFromReducedVector (Q_fixed);
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QDot = CreateDofVectorFromReducedVector (QDot_fixed);
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QDDot.setZero();
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InverseDynamics (*model_movable, Q, QDot, QDDot, C_movable);
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CompositeRigidBodyAlgorithm (*model_movable, Q, H_movable);
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H_fixed = CreateReducedInertiaMatrix (H_movable);
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C_fixed[0] = C_movable[0];
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C_fixed[1] = C_movable[2];
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VectorNd QDDot_fixed_emulate(2);
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CHECK (LinSolveGaussElimPivot (H_fixed, C_fixed * -1. + Tau_fixed, QDDot_fixed_emulate));
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ForwardDynamics (*model_fixed, Q_fixed, QDot_fixed, Tau_fixed, QDDot_fixed);
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CHECK_ARRAY_CLOSE (QDDot_fixed_emulate.data(), QDDot_fixed.data(), 2, TEST_PREC);
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}
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TEST_FIXTURE(FixedAndMovableJoint, TestInverseDynamicsFixedJoint) {
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Q_fixed[0] = 1.1;
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Q_fixed[1] = 2.2;
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QDot_fixed[0] = -3.2;
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QDot_fixed[1] = -2.3;
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QDDot_fixed[0] = 1.2;
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QDDot_fixed[1] = 2.1;
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Q = CreateDofVectorFromReducedVector (Q_fixed);
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QDot = CreateDofVectorFromReducedVector (QDot_fixed);
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QDDot = CreateDofVectorFromReducedVector (QDDot_fixed);
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InverseDynamics (*model_movable, Q, QDot, QDDot, Tau);
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InverseDynamics (*model_fixed, Q_fixed, QDot_fixed, QDDot_fixed, Tau_fixed);
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VectorNd Tau_2dof (2);
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Tau_2dof[0] = Tau[0];
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Tau_2dof[1] = Tau[2];
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CHECK_ARRAY_CLOSE (Tau_2dof.data(), Tau_fixed.data(), 2, TEST_PREC);
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}
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TEST_FIXTURE ( FloatingBase12DoF, TestForwardDynamicsLagrangianPrealloc ) {
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for (unsigned int i = 0; i < model->dof_count; i++) {
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Q[i] = static_cast<double>(i + 1) * 0.1;
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QDot[i] = static_cast<double>(i + 1) * 1.1;
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Tau[i] = static_cast<double>(i + 1) * -1.2;
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}
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ForwardDynamicsLagrangian (*model,
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Q,
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QDot,
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Tau,
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QDDot,
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Math::LinearSolverPartialPivLU,
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NULL,
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NULL,
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NULL
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);
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MatrixNd H (MatrixNd::Zero(model->dof_count, model->dof_count));
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VectorNd C (VectorNd::Zero(model->dof_count));
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VectorNd QDDot_prealloc (VectorNd::Zero (model->dof_count));
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ForwardDynamicsLagrangian (*model,
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Q,
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QDot,
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Tau,
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QDDot_prealloc,
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Math::LinearSolverPartialPivLU,
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NULL,
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&H,
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&C
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);
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CHECK_ARRAY_EQUAL (QDDot.data(), QDDot_prealloc.data(), model->dof_count);
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}
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TEST_FIXTURE ( FixedBase3DoF, SolveMInvTimesTau) {
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for (unsigned int i = 0; i < model->dof_count; i++) {
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Q[i] = rand() / static_cast<double>(RAND_MAX);
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Tau[i] = rand() / static_cast<double>(RAND_MAX);
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}
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MatrixNd M (MatrixNd::Zero(model->dof_count, model->dof_count));
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CompositeRigidBodyAlgorithm (*model, Q, M);
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VectorNd qddot_solve_llt = M.llt().solve(Tau);
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VectorNd qddot_minv (Q);
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CalcMInvTimesTau (*model, Q, Tau, qddot_minv);
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CHECK_ARRAY_CLOSE (qddot_solve_llt.data(), qddot_minv.data(), model->dof_count, TEST_PREC);
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}
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TEST_FIXTURE ( FixedBase3DoF, SolveMInvTimesTauReuse) {
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for (unsigned int i = 0; i < model->dof_count; i++) {
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Q[i] = rand() / static_cast<double>(RAND_MAX);
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Tau[i] = rand() / static_cast<double>(RAND_MAX);
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}
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MatrixNd M (MatrixNd::Zero(model->dof_count, model->dof_count));
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CompositeRigidBodyAlgorithm (*model, Q, M);
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VectorNd qddot_solve_llt = M.llt().solve(Tau);
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VectorNd qddot_minv (Q);
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CalcMInvTimesTau (*model, Q, Tau, qddot_minv);
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for (unsigned int j = 0; j < 1; j++) {
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for (unsigned int i = 0; i < model->dof_count; i++) {
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Tau[i] = rand() / static_cast<double>(RAND_MAX);
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}
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CompositeRigidBodyAlgorithm (*model, Q, M);
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qddot_solve_llt = M.llt().solve(Tau);
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CalcMInvTimesTau (*model, Q, Tau, qddot_minv, false);
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CHECK_ARRAY_CLOSE (qddot_solve_llt.data(), qddot_minv.data(), model->dof_count, TEST_PREC);
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}
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}
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