533 lines
17 KiB
C++
533 lines
17 KiB
C++
#include "rbdl_tests.h"
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#include <iostream>
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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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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-14;
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struct FloatingBaseFixture {
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FloatingBaseFixture () {
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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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base = Body (1., Vector3d (1., 0., 0.), Vector3d (1., 1., 1.));
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}
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~FloatingBaseFixture () {
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delete model;
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}
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Model *model;
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Body base;
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unsigned int base_body_id;
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VectorNd q, qdot, qddot, tau;
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};
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TEST_CASE_METHOD (FloatingBaseFixture, __FILE__"_TestCalcPointTransformation", "") {
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base_body_id = 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);
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q = VectorNd::Constant(model->dof_count, 0.);
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qdot = VectorNd::Constant(model->dof_count, 0.);
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qddot = VectorNd::Constant(model->dof_count, 0.);
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tau = VectorNd::Constant(model->dof_count, 0.);
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q[1] = 1.;
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ForwardDynamics (*model, q, qdot, tau, qddot);
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Vector3d test_point;
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test_point = CalcBaseToBodyCoordinates (*model, q, base_body_id, Vector3d (0., 0., 0.), false);
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REQUIRE_THAT (Vector3d (0., -1., 0.), AllCloseVector(test_point, TEST_PREC, TEST_PREC));
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}
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TEST_CASE_METHOD (FloatingBaseFixture, __FILE__"_TestCalcDynamicFloatingBaseDoubleImplicit", "") {
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// floating base
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base_body_id = 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);
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// body_a
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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(base_body_id, Xtrans(Vector3d(2., 0., 0.)), joint_a, body_a);
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// Initialization of the input vectors
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VectorNd Q = VectorNd::Zero ((size_t) model->dof_count);
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VectorNd QDot = VectorNd::Zero ((size_t) model->dof_count);
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VectorNd QDDot = VectorNd::Zero ((size_t) model->dof_count);
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VectorNd Tau = VectorNd::Zero ((size_t) model->dof_count);
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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.at(i) << endl;
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}
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// std::cout << LogOutput.str() << std::endl;
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VectorNd target(7);
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target << 0., -9.81, 0., 0., 0., 0., 0.;
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REQUIRE_THAT (target, AllCloseVector(QDDot, TEST_PREC, TEST_PREC));
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// We rotate the base... let's see what happens...
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Q[3] = 0.8;
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ForwardDynamics(*model, Q, QDot, Tau, QDDot);
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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.at(i) << endl;
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}
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// std::cout << LogOutput.str() << std::endl;
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REQUIRE_THAT (target, AllCloseVector(QDDot, TEST_PREC, TEST_PREC));
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// We apply a torqe let's see what happens...
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Q[3] = 0.;
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/*
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rot_B[0] = 0.0;
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X_B = XtransRotZYXEuler(pos_B, rot_B);
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*/
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Tau[6] = 1.;
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ForwardDynamics(*model, Q, QDot, Tau, QDDot);
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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.at(i) << endl;
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}
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// std::cout << LogOutput.str() << std::endl;
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target << 0., -8.81, 0., -1., 0., 0., 2.;
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REQUIRE_THAT (target, AllCloseVector(QDDot, TEST_PREC, TEST_PREC));
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}
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TEST_CASE_METHOD (FloatingBaseFixture, __FILE__"_TestCalcPointVelocityFloatingBaseSimple", "") {
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// floating base
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base_body_id = 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);
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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 QDDot = VectorNd::Zero (model->dof_count);
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VectorNd Tau = VectorNd::Zero (model->dof_count);
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unsigned int ref_body_id = base_body_id;
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// first we calculate the velocity when moving along the X axis
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QDot[0] = 1.;
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Vector3d point_position(1., 0., 0.);
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Vector3d point_velocity;
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point_velocity = CalcPointVelocity(*model, Q, QDot, ref_body_id, point_position);
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REQUIRE_THAT (Vector3d (1., 0., 0.), AllCloseVector(point_velocity, TEST_PREC, TEST_PREC));
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LOG << "Point velocity = " << point_velocity << endl;
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// cout << LogOutput.str() << endl;
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ClearLogOutput();
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// Now we calculate the velocity when rotating around the Z axis
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QDot[0] = 0.;
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QDot[3] = 1.;
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point_velocity = CalcPointVelocity(*model, Q, QDot, ref_body_id, point_position);
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REQUIRE_THAT (Vector3d (0., 1., 0.), AllCloseVector(point_velocity, TEST_PREC, TEST_PREC));
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LOG << "Point velocity = " << point_velocity << endl;
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// cout << LogOutput.str() << endl;
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// Now we calculate the velocity when rotating around the Z axis and the
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// base is rotated around the z axis by 90 degrees
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ClearLogOutput();
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Q[3] = M_PI * 0.5;
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QDot[3] = 1.;
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point_velocity = CalcPointVelocity(*model, Q, QDot, ref_body_id, point_position);
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REQUIRE_THAT (Vector3d (-1., 0., 0.), AllCloseVector(point_velocity, TEST_PREC, TEST_PREC));
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LOG << "Point velocity = " << point_velocity << endl;
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// cout << LogOutput.str() << endl;
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}
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TEST_CASE_METHOD (FloatingBaseFixture, __FILE__"_TestCalcPointVelocityCustom", "") {
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// floating base
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base = Body (1., Vector3d (0., 1., 0.), Vector3d (1., 1., 1.));
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base_body_id = 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);
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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 qddot = VectorNd::Zero (model->dof_count);
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VectorNd tau = VectorNd::Zero (model->dof_count);
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unsigned int ref_body_id = base_body_id;
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q[0] = 0.1;
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q[1] = 1.1;
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q[2] = 1.2;
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q[3] = 1.3;
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q[4] = 1.5;
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q[5] = 1.7;
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qdot[0] = 0.1;
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qdot[1] = 1.1;
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qdot[2] = 1.2;
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qdot[3] = 1.3;
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qdot[4] = 1.5;
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qdot[5] = 1.7;
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// first we calculate the velocity when rotating around the Z axis
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Vector3d point_body_position (1., 0., 0.);
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Vector3d point_base_position;
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Vector3d point_base_velocity;
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Vector3d point_base_velocity_reference;
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ForwardDynamics(*model, q, qdot, tau, qddot);
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point_base_velocity = CalcPointVelocity (*model, q, qdot, ref_body_id, point_body_position);
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point_base_velocity_reference = Vector3d (
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-3.888503432977729e-01,
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-3.171179347202455e-01,
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1.093894197498446e+00
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);
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REQUIRE_THAT (point_base_velocity_reference, AllCloseVector(point_base_velocity, TEST_PREC, TEST_PREC));
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}
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/** \brief Compares computation of acceleration values for zero qddot
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*
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* Ensures that computation of position, velocity, and acceleration of a
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* point produce the same values as in an equivalent model that was
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* created with the HuMAnS toolbox
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* http://www.inrialpes.fr/bipop/software/humans/ .
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* Here we omit the term of the generalized acceleration by setting qddot
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* to zero.
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*/
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TEST_CASE_METHOD (FloatingBaseFixture, __FILE__"_TestCalcPointAccelerationNoQDDot", "") {
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// floating base
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base = Body (1., Vector3d (0., 1., 0.), Vector3d (1., 1., 1.));
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base_body_id = 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);
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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 qddot = VectorNd::Zero (model->dof_count);
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VectorNd tau = VectorNd::Zero (model->dof_count);
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unsigned int ref_body_id = base_body_id;
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q[0] = 0.1;
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q[1] = 1.1;
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q[2] = 1.2;
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q[3] = 1.3;
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q[4] = 1.5;
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q[5] = 1.7;
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qdot[0] = 0.1;
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qdot[1] = 1.1;
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qdot[2] = 1.2;
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qdot[3] = 1.3;
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qdot[4] = 1.5;
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qdot[5] = 1.7;
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// first we calculate the velocity when rotating around the Z axis
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Vector3d point_body_position (-1.9, -1.8, 0.);
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Vector3d point_world_position;
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Vector3d point_world_velocity;
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Vector3d point_world_acceleration;
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// call ForwardDynamics to update the model
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ForwardDynamics(*model, q, qdot, tau, qddot);
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qddot = VectorNd::Zero (qddot.size());
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qdot = qdot;
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point_world_position = CalcBodyToBaseCoordinates (*model, q, ref_body_id, point_body_position, false);
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point_world_velocity = CalcPointVelocity (*model, q, qdot, ref_body_id, point_body_position);
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// we set the generalized acceleration to zero
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ClearLogOutput();
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point_world_acceleration = CalcPointAcceleration (*model, q, qdot, qddot, ref_body_id, point_body_position);
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Vector3d humans_point_position (
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-6.357089363622626e-01, -6.831041744630977e-01, 2.968974805916970e+00
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);
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Vector3d humans_point_velocity (
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3.091226260907569e-01, 3.891012095550828e+00, 4.100277995030419e+00
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);
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Vector3d humans_point_acceleration (
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-5.302760158847160e+00, 6.541369639625232e+00, -4.795115077652286e+00
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);
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// cout << LogOutput.str() << endl;
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//
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// cout << "q = " << q << endl;
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// cout << "qdot = " << qdot << endl;
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// cout << "qddot = " << qddot << endl;
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//
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// cout << "body_coords = " << point_body_position << endl;
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// cout << "world_pos = " << point_world_position << endl;
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// cout << "world_vel = " << point_world_velocity << endl;
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// cout << "world_accel = " << point_world_acceleration << endl;
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REQUIRE_THAT (humans_point_position, AllCloseVector(point_world_position, TEST_PREC, TEST_PREC));
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REQUIRE_THAT (humans_point_velocity, AllCloseVector(point_world_velocity, TEST_PREC, TEST_PREC));
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REQUIRE_THAT (humans_point_acceleration, AllCloseVector(point_world_acceleration, TEST_PREC, TEST_PREC));
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}
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/** \brief Compares computation of acceleration values for zero q and qdot
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*
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* Ensures that computation of position, velocity, and acceleration of a
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* point produce the same values as in an equivalent model that was
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* created with the HuMAnS toolbox
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* http://www.inrialpes.fr/bipop/software/humans/ .
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*
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* Here we set q and qdot to zero and only take into account values that
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* are dependent on qddot.
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*/
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TEST_CASE_METHOD (FloatingBaseFixture, __FILE__"_TestCalcPointAccelerationOnlyQDDot", "") {
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// floating base
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base = Body (1., Vector3d (0., 1., 0.), Vector3d (1., 1., 1.));
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base_body_id = 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);
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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 qddot = VectorNd::Zero (model->dof_count);
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VectorNd tau = VectorNd::Zero (model->dof_count);
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unsigned int ref_body_id = base_body_id;
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// first we calculate the velocity when rotating around the Z axis
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Vector3d point_body_position (-1.9, -1.8, 0.);
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Vector3d point_world_position;
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Vector3d point_world_velocity;
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Vector3d point_world_acceleration;
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ForwardDynamics(*model, q, qdot, tau, qddot);
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qddot = VectorNd::Zero (qddot.size());
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qddot[0] = 0.1;
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qddot[1] = 1.1;
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qddot[2] = 1.2;
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qddot[3] = 1.3;
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qddot[4] = 1.5;
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qddot[5] = 1.7;
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// cout << "ref_body_id = " << ref_body_id << endl;
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// cout << "point_body_position = " << point_body_position << endl;
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point_world_position = CalcBodyToBaseCoordinates (*model, q, ref_body_id, point_body_position, false);
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point_world_velocity = CalcPointVelocity (*model, q, qdot, ref_body_id, point_body_position);
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ClearLogOutput();
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point_world_acceleration = CalcPointAcceleration (*model, q, qdot, qddot, ref_body_id, point_body_position);
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Vector3d humans_point_position (
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-1.900000000000000e+00, -1.800000000000000e+00, 0.000000000000000e+00
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);
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Vector3d humans_point_velocity (
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0.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00
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);
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Vector3d humans_point_acceleration (
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2.440000000000000e+00, -1.370000000000000e+00, 9.899999999999999e-01
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);
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// cout << LogOutput.str() << endl;
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//
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// cout << "q = " << q << endl;
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// cout << "qdot = " << qdot << endl;
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// cout << "qddot = " << qddot << endl;
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//
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// cout << "body_coords = " << point_body_position << endl;
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// cout << "world_pos = " << point_world_position << endl;
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// cout << "world_vel = " << point_world_velocity << endl;
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// cout << "world_accel = " << point_world_acceleration << endl;
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REQUIRE_THAT (humans_point_position, AllCloseVector(point_world_position, TEST_PREC, TEST_PREC));
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REQUIRE_THAT (humans_point_velocity, AllCloseVector(point_world_velocity, TEST_PREC, TEST_PREC));
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REQUIRE_THAT (humans_point_acceleration, AllCloseVector(point_world_acceleration, TEST_PREC, TEST_PREC));
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}
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/** \brief Compares computation of acceleration values for zero q and qdot
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*
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* Ensures that computation of position, velocity, and acceleration of a
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* point produce the same values as in an equivalent model that was
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* created with the HuMAnS toolbox
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* http://www.inrialpes.fr/bipop/software/humans/ .
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*
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* Here we set q and qdot to zero and only take into account values that
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* are dependent on qddot.
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*/
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TEST_CASE_METHOD (FloatingBaseFixture, __FILE__"_TestCalcPointAccelerationFull", "") {
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// floating base
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base = Body (1., Vector3d (0., 1., 0.), Vector3d (1., 1., 1.));
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base_body_id = 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);
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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 qddot = VectorNd::Zero (model->dof_count);
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VectorNd tau = VectorNd::Zero (model->dof_count);
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unsigned int ref_body_id = base_body_id;
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// first we calculate the velocity when rotating around the Z axis
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Vector3d point_body_position (-1.9, -1.8, 0.);
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Vector3d point_world_position;
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Vector3d point_world_velocity;
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Vector3d point_world_acceleration;
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q[0] = 0.1;
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q[1] = 1.1;
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q[2] = 1.2;
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q[3] = 1.3;
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q[4] = 1.5;
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q[5] = 1.7;
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qdot[0] = 0.1;
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qdot[1] = 1.1;
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qdot[2] = 1.2;
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qdot[3] = 1.3;
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qdot[4] = 1.5;
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qdot[5] = 1.7;
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ForwardDynamics(*model, q, qdot, tau, qddot);
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qddot[0] = 0.1;
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qddot[1] = 1.1;
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qddot[2] = 1.2;
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qddot[3] = 1.3;
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qddot[4] = 1.5;
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qddot[5] = 1.7;
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// cout << "ref_body_id = " << ref_body_id << endl;
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// cout << "point_body_position = " << point_body_position << endl;
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point_world_position = CalcBodyToBaseCoordinates (*model, q, ref_body_id, point_body_position, false);
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point_world_velocity = CalcPointVelocity (*model, q, qdot, ref_body_id, point_body_position);
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ClearLogOutput();
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point_world_acceleration = CalcPointAcceleration (*model, q, qdot, qddot, ref_body_id, point_body_position);
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Vector3d humans_point_position (
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-6.357089363622626e-01, -6.831041744630977e-01, 2.968974805916970e+00
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);
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Vector3d humans_point_velocity (
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3.091226260907569e-01, 3.891012095550828e+00, 4.100277995030419e+00
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);
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Vector3d humans_point_acceleration (
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-4.993637532756404e+00, 1.043238173517606e+01, -6.948370826218673e-01
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);
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// cout << LogOutput.str() << endl;
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//
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// cout << "q = " << q << endl;
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// cout << "qdot = " << qdot << endl;
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// cout << "qddot = " << qddot << endl;
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//
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// cout << "body_coords = " << point_body_position << endl;
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// cout << "world_pos = " << point_world_position << endl;
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// cout << "world_vel = " << point_world_velocity << endl;
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// cout << "world_accel = " << point_world_acceleration << endl;
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REQUIRE_THAT (humans_point_position, AllCloseVector(point_world_position, TEST_PREC, TEST_PREC));
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REQUIRE_THAT (humans_point_velocity, AllCloseVector(point_world_velocity, TEST_PREC, TEST_PREC));
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REQUIRE_THAT (humans_point_acceleration, AllCloseVector(point_world_acceleration, TEST_PREC, TEST_PREC));
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}
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