262 lines
7.2 KiB
C++
262 lines
7.2 KiB
C++
#include "rbdl_tests.h"
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#include <iostream>
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#include "rbdl/Logging.h"
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#include "rbdl/Model.h"
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#include "rbdl/Dynamics.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-12;
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struct CompositeRigidBodyFixture {
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CompositeRigidBodyFixture () {
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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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~CompositeRigidBodyFixture () {
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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_CASE_METHOD (CompositeRigidBodyFixture, __FILE__"_TestCompositeRigidBodyForwardDynamicsFloatingBase", "") {
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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::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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VectorNd TauInv = VectorNd::Constant ((size_t) model->dof_count, 0.);
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MatrixNd H = MatrixNd::Constant ((size_t) model->dof_count, (size_t) model->dof_count, 0.);
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VectorNd C = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd QDDot_zero = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd QDDot_crba = VectorNd::Constant ((size_t) model->dof_count, 0.);
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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);
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ClearLogOutput();
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CompositeRigidBodyAlgorithm (*model, Q, H);
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// cout << LogOutput.str() << endl;
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InverseDynamics (*model, Q, QDot, QDDot_zero, C);
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REQUIRE (LinSolveGaussElimPivot (H, C * -1. + Tau, QDDot_crba));
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REQUIRE_THAT (QDDot, AllCloseVector(QDDot_crba, TEST_PREC, TEST_PREC));
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}
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TEST_CASE_METHOD (FloatingBase12DoF, __FILE__"_TestCRBAFloatingBase12DoF", "") {
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MatrixNd H = MatrixNd::Zero ((size_t) model->dof_count, (size_t) model->dof_count);
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VectorNd C = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd QDDot_zero = VectorNd::Constant ((size_t) model->dof_count, 0.);
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VectorNd QDDot_crba = VectorNd::Constant ((size_t) model->dof_count, 0.);
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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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Q[ 6] = -1.3;
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Q[ 7] = -1.4;
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Q[ 8] = -1.5;
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Q[ 9] = -0.3;
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Q[10] = -0.4;
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Q[11] = -0.5;
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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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QDot[ 6] = -1.1;
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QDot[ 7] = 1.2;
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QDot[ 8] = -1.3;
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QDot[ 9] = 0.1;
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QDot[10] = -0.2;
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QDot[11] = 0.3;
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Tau[ 0] = -1.1;
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Tau[ 1] = 1.2;
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Tau[ 2] = -1.3;
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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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Tau[ 6] = 0.1;
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Tau[ 7] = -0.2;
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Tau[ 8] = 0.3;
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Tau[ 9] = -0.1;
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Tau[10] = 0.2;
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Tau[11] = -0.3;
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ForwardDynamics(*model, Q, QDot, Tau, QDDot);
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ClearLogOutput();
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CompositeRigidBodyAlgorithm (*model, Q, H);
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// cout << LogOutput.str() << endl;
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InverseDynamics (*model, Q, QDot, QDDot_zero, C);
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REQUIRE (LinSolveGaussElimPivot (H, C * -1. + Tau, QDDot_crba));
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REQUIRE_THAT (QDDot, AllCloseVector(QDDot_crba, TEST_PREC, TEST_PREC));
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}
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TEST_CASE_METHOD (FloatingBase12DoF, __FILE__"_TestCRBAFloatingBase12DoFInverseDynamics", "") {
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MatrixNd H_crba = MatrixNd::Zero ((size_t) model->dof_count, (size_t) model->dof_count);
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MatrixNd H_id = MatrixNd::Zero ((size_t) model->dof_count, (size_t) 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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Q[ 6] = -1.3;
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Q[ 7] = -1.4;
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Q[ 8] = -1.5;
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Q[ 9] = -0.3;
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Q[10] = -0.4;
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Q[11] = -0.5;
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QDot.setZero();
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REQUIRE (model->dof_count == 12);
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UpdateKinematicsCustom (*model, &Q, NULL, NULL);
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CompositeRigidBodyAlgorithm (*model, Q, H_crba, false);
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VectorNd H_col = VectorNd::Zero (model->dof_count);
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VectorNd QDDot_zero = VectorNd::Zero (model->dof_count);
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unsigned int i;
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for (i = 0; i < model->dof_count; i++) {
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// compute each column
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VectorNd delta_a = VectorNd::Zero (model->dof_count);
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delta_a[i] = 1.;
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// cout << delta_a << endl;
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// compute ID (model, q, qdot, delta_a)
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VectorNd id_delta = VectorNd::Zero (model->dof_count);
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InverseDynamics (*model, Q, QDot, delta_a, id_delta);
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// compute ID (model, q, qdot, zero)
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VectorNd id_zero = VectorNd::Zero (model->dof_count);
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InverseDynamics (*model, Q, QDot, QDDot_zero, id_zero);
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H_col = id_delta - id_zero;
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// cout << "H_col = " << H_col << endl;
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H_id.block<12, 1>(0, i) = H_col;
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}
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// cout << "H (crba) = " << endl << H_crba << endl;
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// cout << "H (id) = " << endl << H_id << endl;
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REQUIRE_THAT (H_crba, AllCloseMatrix(H_id, TEST_PREC, TEST_PREC));
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}
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TEST_CASE_METHOD (FixedBase6DoF, __FILE__"_TestCRBAFloatingBase6DoFInverseDynamics", "") {
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MatrixNd H_crba = MatrixNd::Zero ((size_t) model->dof_count, (size_t) model->dof_count);
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MatrixNd H_id = MatrixNd::Zero ((size_t) model->dof_count, (size_t) 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.setZero();
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REQUIRE (model->dof_count == 6);
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UpdateKinematicsCustom (*model, &Q, NULL, NULL);
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CompositeRigidBodyAlgorithm (*model, Q, H_crba, false);
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VectorNd H_col = VectorNd::Zero (model->dof_count);
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VectorNd QDDot_zero = VectorNd::Zero (model->dof_count);
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unsigned int i;
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for (i = 0; i < 6; i++) {
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// compute each column
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VectorNd delta_a = VectorNd::Zero (model->dof_count);
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delta_a[i] = 1.;
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ClearLogOutput();
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// compute ID (model, q, qdot, delta_a)
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VectorNd id_delta = VectorNd::Zero (model->dof_count);
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InverseDynamics (*model, Q, QDot, delta_a, id_delta);
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// compute ID (model, q, qdot, zero)
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VectorNd id_zero = VectorNd::Zero (model->dof_count);
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InverseDynamics (*model, Q, QDot, QDDot_zero, id_zero);
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H_col.setZero();
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H_col = id_delta - id_zero;
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H_id.block<6, 1>(0, i) = H_col;
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}
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REQUIRE_THAT (H_crba, AllCloseMatrix(H_id, TEST_PREC, TEST_PREC));
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}
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TEST_CASE_METHOD (CompositeRigidBodyFixture, __FILE__"_TestCompositeRigidBodyForwardDynamicsSpherical", "") {
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Body base_body(1., Vector3d (0., 0., 0.), Vector3d (1., 2., 3.));
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model->AddBody(0, SpatialTransform(), Joint(JointTypeSpherical), base_body);
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VectorNd Q = VectorNd::Constant ((size_t) model->q_size, 0.);
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model->SetQuaternion (1, Quaternion(), Q);
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MatrixNd H = MatrixNd::Constant ((size_t) model->qdot_size, (size_t) model->qdot_size, 0.);
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CompositeRigidBodyAlgorithm (*model, Q, H, true);
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Matrix3d H_ref (
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1., 0., 0.,
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0., 2., 0.,
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0., 0., 3.
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);
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REQUIRE_THAT (H_ref, AllCloseMatrix(H, TEST_PREC, TEST_PREC));
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}
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