rbdlsim/3rdparty/rbdl/tests/CalcVelocitiesTests.cc

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2020-10-03 22:55:14 +02:00
#include <UnitTest++.h>
#include <iostream>
#include "rbdl/Logging.h"
#include "rbdl/Model.h"
#include "rbdl/Kinematics.h"
using namespace std;
using namespace RigidBodyDynamics;
using namespace RigidBodyDynamics::Math;
const double TEST_PREC = 1.0e-14;
struct ModelVelocitiesFixture {
ModelVelocitiesFixture () {
ClearLogOutput();
model = new Model;
body_a = Body (1., Vector3d (1., 0., 0.), Vector3d (1., 1., 1.));
Joint joint_a ( SpatialVector (0., 0., 1., 0., 0., 0.));
body_a_id = model->AddBody(0, Xtrans(Vector3d(0., 0., 0.)), joint_a, body_a);
body_b = Body (1., Vector3d (0., 1., 0.), Vector3d (1., 1., 1.));
Joint joint_b ( SpatialVector (0., 1., 0., 0., 0., 0.));
body_b_id = model->AddBody(1, Xtrans(Vector3d(1., 0., 0.)), joint_b, body_b);
body_c = Body (1., Vector3d (1., 0., 0.), Vector3d (1., 1., 1.));
Joint joint_c ( SpatialVector (1., 0., 0., 0., 0., 0.));
body_c_id = model->AddBody(2, Xtrans(Vector3d(0., 1., 0.)), joint_c, body_c);
Q = VectorNd::Constant ((size_t) model->dof_count, 0.);
QDot = VectorNd::Constant ((size_t) model->dof_count, 0.);
point_position = Vector3d::Zero(3);
point_velocity = Vector3d::Zero(3);
ref_body_id = 0;
ClearLogOutput();
}
~ModelVelocitiesFixture () {
delete model;
}
Model *model;
unsigned int body_a_id, body_b_id, body_c_id, ref_body_id;
Body body_a, body_b, body_c;
Joint joint_a, joint_b, joint_c;
VectorNd Q;
VectorNd QDot;
Vector3d point_position, point_velocity;
};
TEST_FIXTURE(ModelVelocitiesFixture, TestCalcPointSimple) {
ref_body_id = 1;
QDot[0] = 1.;
point_position = Vector3d (1., 0., 0.);
point_velocity = CalcPointVelocity(*model, Q, QDot, ref_body_id, point_position);
CHECK_CLOSE(0., point_velocity[0], TEST_PREC);
CHECK_CLOSE(1., point_velocity[1], TEST_PREC);
CHECK_CLOSE(0., point_velocity[2], TEST_PREC);
LOG << "Point velocity = " << point_velocity << endl;
// cout << LogOutput.str() << endl;
}
TEST_FIXTURE(ModelVelocitiesFixture, TestCalcPointRotatedBaseSimple) {
// rotated first joint
ref_body_id = 1;
Q[0] = M_PI * 0.5;
QDot[0] = 1.;
point_position = Vector3d (1., 0., 0.);
point_velocity = CalcPointVelocity(*model, Q, QDot, ref_body_id, point_position);
CHECK_CLOSE(-1., point_velocity[0], TEST_PREC);
CHECK_CLOSE( 0., point_velocity[1], TEST_PREC);
CHECK_CLOSE( 0., point_velocity[2], TEST_PREC);
// cout << LogOutput.str() << endl;
}
TEST_FIXTURE(ModelVelocitiesFixture, TestCalcPointRotatingBodyB) {
// rotating second joint, point at third body
ref_body_id = 3;
QDot[1] = 1.;
point_position = Vector3d (1., 0., 0.);
point_velocity = CalcPointVelocity(*model, Q, QDot, ref_body_id, point_position);
// cout << LogOutput.str() << endl;
CHECK_CLOSE( 0., point_velocity[0], TEST_PREC);
CHECK_CLOSE( 0., point_velocity[1], TEST_PREC);
CHECK_CLOSE(-1., point_velocity[2], TEST_PREC);
}
TEST_FIXTURE(ModelVelocitiesFixture, TestCalcPointRotatingBaseXAxis) {
// also rotate the first joint and take a point that is
// on the X direction
ref_body_id = 3;
QDot[0] = 1.;
QDot[1] = 1.;
point_position = Vector3d (1., -1., 0.);
point_velocity = CalcPointVelocity(*model, Q, QDot, ref_body_id, point_position);
// cout << LogOutput.str() << endl;
CHECK_CLOSE( 0., point_velocity[0], TEST_PREC);
CHECK_CLOSE( 2., point_velocity[1], TEST_PREC);
CHECK_CLOSE(-1., point_velocity[2], TEST_PREC);
}
TEST_FIXTURE(ModelVelocitiesFixture, TestCalcPointRotatedBaseXAxis) {
// perform the previous test with the first joint rotated by pi/2
// upwards
ClearLogOutput();
ref_body_id = 3;
point_position = Vector3d (1., -1., 0.);
Q[0] = M_PI * 0.5;
QDot[0] = 1.;
QDot[1] = 1.;
point_velocity = CalcPointVelocity(*model, Q, QDot, ref_body_id, point_position);
// cout << LogOutput.str() << endl;
CHECK_CLOSE(-2., point_velocity[0], TEST_PREC);
CHECK_CLOSE( 0., point_velocity[1], TEST_PREC);
CHECK_CLOSE(-1., point_velocity[2], TEST_PREC);
}
TEST_FIXTURE(ModelVelocitiesFixture, TestCalcPointBodyOrigin) {
// Checks whether the computation is also correct for points at the origin
// of a body
ref_body_id = body_b_id;
point_position = Vector3d (0., 0., 0.);
Q[0] = 0.;
QDot[0] = 1.;
point_velocity = CalcPointVelocity(*model, Q, QDot, ref_body_id, point_position);
// cout << LogOutput.str() << endl;
CHECK_CLOSE( 0., point_velocity[0], TEST_PREC);
CHECK_CLOSE( 1., point_velocity[1], TEST_PREC);
CHECK_CLOSE( 0., point_velocity[2], TEST_PREC);
}
TEST ( FixedJointCalcPointVelocity ) {
// the standard modeling using a null body
Body body(1., Vector3d (1., 0.4, 0.4), Vector3d (1., 1., 1.));
Body fixed_body(1., Vector3d (1., 0.4, 0.4), Vector3d (1., 1., 1.));
Model model;
Joint joint_rot_z ( SpatialVector (0., 0., 1., 0., 0., 0.));
model.AddBody (0, Xtrans(Vector3d(0., 0., 0.)), joint_rot_z, body);
SpatialTransform transform = Xtrans (Vector3d (1., 0., 0.));
unsigned int fixed_body_id = model.AppendBody (transform, Joint(JointTypeFixed), fixed_body, "fixed_body");
VectorNd Q = VectorNd::Zero (model.dof_count);
VectorNd QDot = VectorNd::Zero (model.dof_count);
QDot[0] = 1.;
ClearLogOutput();
Vector3d point0_velocity = CalcPointVelocity (model, Q, QDot, fixed_body_id, Vector3d (0., 0., 0.));
// cout << LogOutput.str() << endl;
Vector3d point1_velocity = CalcPointVelocity (model, Q, QDot, fixed_body_id, Vector3d (1., 0., 0.));
CHECK_ARRAY_CLOSE (Vector3d (0., 1., 0.).data(), point0_velocity.data(), 3, TEST_PREC);
CHECK_ARRAY_CLOSE (Vector3d (0., 2., 0.).data(), point1_velocity.data(), 3, TEST_PREC);
}
TEST ( FixedJointCalcPointVelocityRotated ) {
// the standard modeling using a null body
Body body(1., Vector3d (1., 0.4, 0.4), Vector3d (1., 1., 1.));
Body fixed_body(1., Vector3d (1., 0.4, 0.4), Vector3d (1., 1., 1.));
Model model;
Joint joint_rot_z ( SpatialVector (0., 0., 1., 0., 0., 0.));
model.AddBody (0, Xtrans(Vector3d(0., 0., 0.)), joint_rot_z, body);
SpatialTransform transform = Xtrans (Vector3d (1., 0., 0.));
unsigned int fixed_body_id = model.AppendBody (transform, Joint(JointTypeFixed), fixed_body, "fixed_body");
VectorNd Q = VectorNd::Zero (model.dof_count);
VectorNd QDot = VectorNd::Zero (model.dof_count);
Q[0] = M_PI * 0.5;
QDot[0] = 1.;
ClearLogOutput();
Vector3d point0_velocity = CalcPointVelocity (model, Q, QDot, fixed_body_id, Vector3d (0., 0., 0.));
// cout << LogOutput.str() << endl;
Vector3d point1_velocity = CalcPointVelocity (model, Q, QDot, fixed_body_id, Vector3d (1., 0., 0.));
CHECK_ARRAY_CLOSE (Vector3d (-1., 0., 0.).data(), point0_velocity.data(), 3, TEST_PREC);
CHECK_ARRAY_CLOSE (Vector3d (-2., 0., 0.).data(), point1_velocity.data(), 3, TEST_PREC);
}