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

236 lines
7.9 KiB
C++

#include <UnitTest++.h>
#include <iostream>
#include "rbdl/Logging.h"
#include "rbdl/Model.h"
#include "rbdl/Kinematics.h"
#include "Fixtures.h"
using namespace std;
using namespace RigidBodyDynamics;
using namespace RigidBodyDynamics::Math;
const double TEST_PREC = 1.0e-14;
TEST_FIXTURE(FixedBase3DoF, TestCalcPointSimple) {
QDDot[0] = 1.;
ref_body_id = body_a_id;
point_position = Vector3d (1., 0., 0.);
point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, ref_body_id, point_position);
// cout << LogOutput.str() << endl;
CHECK_CLOSE(0., point_acceleration[0], TEST_PREC);
CHECK_CLOSE(1., point_acceleration[1], TEST_PREC);
CHECK_CLOSE(0., point_acceleration[2], TEST_PREC);
// LOG << "Point accel = " << point_acceleration << endl;
}
TEST_FIXTURE(FixedBase3DoF, TestCalcPointSimpleRotated) {
Q[0] = 0.5 * M_PI;
ref_body_id = body_a_id;
QDDot[0] = 1.;
point_position = Vector3d (1., 0., 0.);
point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, ref_body_id, point_position);
// cout << LogOutput.str() << endl;
CHECK_CLOSE(-1., point_acceleration[0], TEST_PREC);
CHECK_CLOSE( 0., point_acceleration[1], TEST_PREC);
CHECK_CLOSE( 0., point_acceleration[2], TEST_PREC);
// LOG << "Point accel = " << point_acceleration << endl;
}
TEST_FIXTURE(FixedBase3DoF, TestCalcPointRotation) {
ref_body_id = 1;
QDot[0] = 1.;
point_position = Vector3d (1., 0., 0.);
point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, ref_body_id, point_position);
// cout << LogOutput.str() << endl;
CHECK_CLOSE(-1., point_acceleration[0], TEST_PREC);
CHECK_CLOSE( 0., point_acceleration[1], TEST_PREC);
CHECK_CLOSE( 0., point_acceleration[2], TEST_PREC);
ClearLogOutput();
// if we are on the other side we should have the opposite value
point_position = Vector3d (-1., 0., 0.);
point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, ref_body_id, point_position);
// cout << LogOutput.str() << endl;
CHECK_CLOSE( 1., point_acceleration[0], TEST_PREC);
CHECK_CLOSE( 0., point_acceleration[1], TEST_PREC);
CHECK_CLOSE( 0., point_acceleration[2], TEST_PREC);
}
TEST_FIXTURE(FixedBase3DoF, TestCalcPointRotatedBaseSimple) {
// rotated first joint
ref_body_id = 1;
Q[0] = M_PI * 0.5;
QDot[0] = 1.;
point_position = Vector3d (1., 0., 0.);
point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, ref_body_id, point_position);
CHECK_CLOSE( 0., point_acceleration[0], TEST_PREC);
CHECK_CLOSE(-1., point_acceleration[1], TEST_PREC);
CHECK_CLOSE( 0., point_acceleration[2], TEST_PREC);
point_position = Vector3d (-1., 0., 0.);
point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, ref_body_id, point_position);
CHECK_CLOSE( 0., point_acceleration[0], TEST_PREC);
CHECK_CLOSE( 1., point_acceleration[1], TEST_PREC);
CHECK_CLOSE( 0., point_acceleration[2], TEST_PREC);
// cout << LogOutput.str() << endl;
}
TEST_FIXTURE(FixedBase3DoF, TestCalcPointRotatingBodyB) {
// rotating second joint, point at third body
ref_body_id = 3;
QDot[1] = 1.;
point_position = Vector3d (1., 0., 0.);
point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, ref_body_id, point_position);
// cout << LogOutput.str() << endl;
CHECK_CLOSE( -1., point_acceleration[0], TEST_PREC);
CHECK_CLOSE( 0., point_acceleration[1], TEST_PREC);
CHECK_CLOSE( 0., point_acceleration[2], TEST_PREC);
// move it a bit further up (acceleration should stay the same)
point_position = Vector3d (1., 1., 0.);
point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, ref_body_id, point_position);
// cout << LogOutput.str() << endl;
CHECK_CLOSE( -1., point_acceleration[0], TEST_PREC);
CHECK_CLOSE( 0., point_acceleration[1], TEST_PREC);
CHECK_CLOSE( 0., point_acceleration[2], TEST_PREC);
}
TEST_FIXTURE(FixedBase3DoF, TestCalcPointBodyOrigin) {
// rotating second joint, point at third body
QDot[0] = 1.;
ref_body_id = body_b_id;
point_position = Vector3d (0., 0., 0.);
point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, ref_body_id, point_position);
// cout << LogOutput.str() << endl;
CHECK_CLOSE( -1., point_acceleration[0], TEST_PREC);
CHECK_CLOSE( 0., point_acceleration[1], TEST_PREC);
CHECK_CLOSE( 0., point_acceleration[2], TEST_PREC);
}
TEST_FIXTURE(FixedBase3DoF, TestAccelerationLinearFuncOfQddot) {
// rotating second joint, point at third body
QDot[0] = 1.1;
QDot[1] = 1.3;
QDot[2] = 1.5;
ref_body_id = body_c_id;
point_position = Vector3d (1., 1., 1.);
VectorNd qddot_1 = VectorNd::Zero (model->dof_count);
VectorNd qddot_2 = VectorNd::Zero (model->dof_count);
VectorNd qddot_0 = VectorNd::Zero (model->dof_count);
qddot_1[0] = 0.1;
qddot_1[1] = 0.2;
qddot_1[2] = 0.3;
qddot_2[0] = 0.32;
qddot_2[1] = -0.1;
qddot_2[2] = 0.53;
Vector3d acc_1 = CalcPointAcceleration(*model, Q, QDot, qddot_1, ref_body_id, point_position);
Vector3d acc_2 = CalcPointAcceleration(*model, Q, QDot, qddot_2, ref_body_id, point_position);
MatrixNd G = MatrixNd::Zero (3, model->dof_count);
CalcPointJacobian (*model, Q, ref_body_id, point_position, G, true);
VectorNd net_acc = G * (qddot_1 - qddot_2);
Vector3d acc_new = acc_1 - acc_2;
CHECK_ARRAY_CLOSE (net_acc.data(), acc_new.data(), 3, TEST_PREC);
}
TEST_FIXTURE (FloatingBase12DoF, TestAccelerationFloatingBaseWithUpdateKinematics ) {
ForwardDynamics (*model, Q, QDot, Tau, QDDot);
ClearLogOutput();
Vector3d accel = CalcPointAcceleration (*model, Q, QDot, QDDot, child_2_rot_x_id, Vector3d (0., 0., 0.), true);
CHECK_ARRAY_CLOSE (Vector3d (0., -9.81, 0.), accel.data(), 3, TEST_PREC);
}
TEST_FIXTURE (FloatingBase12DoF, TestAccelerationFloatingBaseWithoutUpdateKinematics ) {
ForwardDynamics (*model, Q, QDot, Tau, QDDot);
//ClearLogOutput();
Vector3d accel = CalcPointAcceleration (*model, Q, QDot, QDDot, child_2_rot_x_id, Vector3d (0., 0., 0.), false);
CHECK_ARRAY_CLOSE (Vector3d (0., 0., 0.), accel.data(), 3, TEST_PREC);
// cout << LogOutput.str() << endl;
// cout << accel.transpose() << endl;
}
TEST_FIXTURE(FixedBase3DoF, TestCalcPointRotationFixedJoint) {
Body fixed_body(1., Vector3d (1., 0.4, 0.4), Vector3d (1., 1., 1.));
unsigned int fixed_body_id = model->AddBody (body_c_id, Xtrans (Vector3d (1., -1., 0.)), Joint(JointTypeFixed), fixed_body, "fixed_body");
QDot[0] = 1.;
point_position = Vector3d (0., 0., 0.);
Vector3d point_acceleration_reference = CalcPointAcceleration (*model, Q, QDot, QDDot, body_c_id, Vector3d (1., -1., 0.));
ClearLogOutput();
point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, fixed_body_id, point_position);
// cout << LogOutput.str() << endl;
CHECK_ARRAY_CLOSE (point_acceleration_reference.data(),
point_acceleration.data(),
3,
TEST_PREC);
}
TEST_FIXTURE(FixedBase3DoF, TestCalcPointRotationFixedJointRotatedTransform) {
Body fixed_body(1., Vector3d (1., 0.4, 0.4), Vector3d (1., 1., 1.));
SpatialTransform fixed_transform = Xtrans (Vector3d (1., -1., 0.)) * Xrotz(M_PI * 0.5);
unsigned int fixed_body_id = model->AddBody (body_c_id, fixed_transform, Joint(JointTypeFixed), fixed_body, "fixed_body");
QDot[0] = 1.;
point_position = Vector3d (0., 0., 0.);
ClearLogOutput();
Vector3d point_acceleration_reference = CalcPointAcceleration (*model, Q, QDot, QDDot, body_c_id, Vector3d (1., 1., 0.));
// cout << LogOutput.str() << endl;
// cout << "Point position = " << CalcBodyToBaseCoordinates (*model, Q, fixed_body_id, Vector3d (0., 0., 0.)).transpose() << endl;
// cout << "Point position_ref = " << CalcBodyToBaseCoordinates (*model, Q, body_c_id, Vector3d (1., 1., 0.)).transpose() << endl;
ClearLogOutput();
point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, fixed_body_id, point_position);
// cout << LogOutput.str() << endl;
CHECK_ARRAY_CLOSE (point_acceleration_reference.data(),
point_acceleration.data(),
3,
TEST_PREC);
}