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

245 lines
7.8 KiB
C++

#include <UnitTest++.h>
#include <iostream>
#include "rbdl/rbdl_mathutils.h"
#include "rbdl/Body.h"
using namespace std;
using namespace RigidBodyDynamics;
using namespace RigidBodyDynamics::Math;
const double TEST_PREC = 1.0e-14;
/* Tests whether the spatial inertia matches the one specified by its
* parameters
*/
TEST ( TestComputeSpatialInertiaFromAbsoluteRadiiGyration ) {
Body body(1.1, Vector3d (1.5, 1.2, 1.3), Vector3d (1.4, 2., 3.));
Matrix3d inertia_C (
1.4, 0., 0.,
0., 2., 0.,
0., 0., 3.);
SpatialMatrix reference_inertia (
4.843, -1.98, -2.145, 0, -1.43, 1.32,
-1.98, 6.334, -1.716, 1.43, 0, -1.65,
-2.145, -1.716, 7.059, -1.32, 1.65, 0,
0, 1.43, -1.32, 1.1, 0, 0,
-1.43, 0, 1.65, 0, 1.1, 0,
1.32, -1.65, 0, 0, 0, 1.1
);
// cout << LogOutput.str() << endl;
SpatialRigidBodyInertia body_rbi = SpatialRigidBodyInertia::createFromMassComInertiaC (body.mMass, body.mCenterOfMass, body.mInertia);
CHECK_ARRAY_CLOSE (reference_inertia.data(), body_rbi.toMatrix().data(), 36, TEST_PREC);
CHECK_ARRAY_CLOSE (inertia_C.data(), body.mInertia.data(), 9, TEST_PREC);
}
TEST ( TestBodyConstructorMassComInertia ) {
double mass = 1.1;
Vector3d com (1.5, 1.2, 1.3);
Matrix3d inertia_C (
8.286, -3.96, -4.29,
-3.96, 10.668, -3.432,
-4.29, -3.432, 11.118
);
Body body (mass, com, inertia_C);
SpatialMatrix reference_inertia (
11.729, -5.94, -6.435, 0, -1.43, 1.32,
-5.94, 15.002, -5.148, 1.43, 0, -1.65,
-6.435, -5.148, 15.177, -1.32, 1.65, 0,
0, 1.43, -1.32, 1.1, 0, 0,
-1.43, 0, 1.65, 0, 1.1, 0,
1.32, -1.65, 0, 0, 0, 1.1
);
SpatialRigidBodyInertia body_rbi = SpatialRigidBodyInertia::createFromMassComInertiaC (body.mMass, body.mCenterOfMass, body.mInertia);
CHECK_ARRAY_CLOSE (reference_inertia.data(), body_rbi.toMatrix().data(), 36, TEST_PREC);
CHECK_ARRAY_CLOSE (inertia_C.data(), body.mInertia.data(), 9, TEST_PREC);
}
TEST ( TestBodyJoinNullbody ) {
ClearLogOutput();
Body body(1.1, Vector3d (1.5, 1.2, 1.3), Vector3d (1.4, 2., 3.));
Body nullbody (0., Vector3d (0., 0., 0.), Vector3d (0., 0., 0.));
Body joined_body = body;
joined_body.Join (Xtrans(Vector3d (0., 0., 0.)), nullbody);
SpatialRigidBodyInertia body_rbi (body.mMass, body.mCenterOfMass, body.mInertia);
SpatialRigidBodyInertia joined_body_rbi (joined_body.mMass, joined_body.mCenterOfMass, joined_body.mInertia);
CHECK_EQUAL (1.1, body.mMass);
CHECK_ARRAY_CLOSE (body.mCenterOfMass.data(), joined_body.mCenterOfMass.data(), 3, TEST_PREC);
CHECK_ARRAY_CLOSE (body_rbi.toMatrix().data(), joined_body_rbi.toMatrix().data(), 36, TEST_PREC);
}
TEST ( TestBodyJoinTwoBodies ) {
ClearLogOutput();
Body body_a(1.1, Vector3d (-1.1, 1.3, 0.), Vector3d (3.1, 3.2, 3.3));
Body body_b(1.1, Vector3d (1.1, 1.3, 0.), Vector3d (3.1, 3.2, 3.3));
Body body_joined (body_a);
body_joined.Join (Xtrans(Vector3d (0., 0., 0.)), body_b);
SpatialRigidBodyInertia body_joined_rbi = SpatialRigidBodyInertia::createFromMassComInertiaC (body_joined.mMass, body_joined.mCenterOfMass, body_joined.mInertia);
SpatialMatrix reference_inertia (
9.918, 0, 0, 0, -0, 2.86,
0, 9.062, 0, 0, 0, -0,
0, 0, 12.98, -2.86, 0, 0,
0, 0, -2.86, 2.2, 0, 0,
-0, 0, 0, 0, 2.2, 0,
2.86, -0, 0, 0, 0, 2.2
);
CHECK_EQUAL (2.2, body_joined.mMass);
CHECK_ARRAY_EQUAL (Vector3d (0., 1.3, 0.).data(), body_joined.mCenterOfMass.data(), 3);
CHECK_ARRAY_CLOSE (reference_inertia.data(), body_joined_rbi.toMatrix().data(), 36, TEST_PREC);
}
TEST ( TestBodyJoinTwoBodiesDisplaced ) {
ClearLogOutput();
Body body_a(1.1, Vector3d (-1.1, 1.3, 0.), Vector3d (3.1, 3.2, 3.3));
Body body_b(1.1, Vector3d (0., 0., 0.), Vector3d (3.1, 3.2, 3.3));
Body body_joined (body_a);
body_joined.Join (Xtrans(Vector3d (1.1, 1.3, 0.)), body_b);
SpatialRigidBodyInertia body_joined_rbi = SpatialRigidBodyInertia::createFromMassComInertiaC (body_joined.mMass, body_joined.mCenterOfMass, body_joined.mInertia);
SpatialMatrix reference_inertia (
9.918, 0, 0, 0, -0, 2.86,
0, 9.062, 0, 0, 0, -0,
0, 0, 12.98, -2.86, 0, 0,
0, 0, -2.86, 2.2, 0, 0,
-0, 0, 0, 0, 2.2, 0,
2.86, -0, 0, 0, 0, 2.2
);
CHECK_EQUAL (2.2, body_joined.mMass);
CHECK_ARRAY_EQUAL (Vector3d (0., 1.3, 0.).data(), body_joined.mCenterOfMass.data(), 3);
CHECK_ARRAY_CLOSE (reference_inertia.data(), body_joined_rbi.toMatrix().data(), 36, TEST_PREC);
}
TEST ( TestBodyJoinTwoBodiesRotated ) {
ClearLogOutput();
Body body_a(1.1, Vector3d (0., 0., 0.), Vector3d (3.1, 3.2, 3.3));
Body body_b(1.1, Vector3d (0., 0., 0.), Vector3d (3.1, 3.3, 3.2));
Body body_joined (body_a);
body_joined.Join (Xrotx(-M_PI*0.5), body_b);
SpatialRigidBodyInertia body_joined_rbi (body_joined.mMass, body_joined.mCenterOfMass, body_joined.mInertia);
SpatialMatrix reference_inertia (
6.2, 0., 0., 0., 0., 0.,
0., 6.4, 0., 0., 0., 0.,
0., 0., 6.6, 0., 0., 0.,
0., 0., 0., 2.2, 0., 0.,
0., 0., 0., 0., 2.2, 0.,
0., 0., 0., 0., 0., 2.2
);
CHECK_EQUAL (2.2, body_joined.mMass);
CHECK_ARRAY_EQUAL (Vector3d (0., 0., 0.).data(), body_joined.mCenterOfMass.data(), 3);
CHECK_ARRAY_CLOSE (reference_inertia.data(), body_joined_rbi.toMatrix().data(), 36, TEST_PREC);
}
TEST ( TestBodyJoinTwoBodiesRotatedAndTranslated ) {
ClearLogOutput();
Body body_a(1.1, Vector3d (0., 0., 0.), Vector3d (3.1, 3.2, 3.3));
Body body_b(1.1, Vector3d (-1., 1., 0.), Vector3d (3.2, 3.1, 3.3));
Body body_joined (body_a);
body_joined.Join (Xrotz(M_PI*0.5) * Xtrans(Vector3d (1., 1., 0.)), body_b);
SpatialRigidBodyInertia body_joined_rbi (body_joined.mMass, body_joined.mCenterOfMass, body_joined.mInertia);
SpatialMatrix reference_inertia (
6.2, 0., 0., 0., 0., 0.,
0., 6.4, 0., 0., 0., 0.,
0., 0., 6.6, 0., 0., 0.,
0., 0., 0., 2.2, 0., 0.,
0., 0., 0., 0., 2.2, 0.,
0., 0., 0., 0., 0., 2.2
);
CHECK_EQUAL (2.2, body_joined.mMass);
CHECK_ARRAY_CLOSE (Vector3d (0., 0., 0.).data(), body_joined.mCenterOfMass.data(), 3, TEST_PREC);
CHECK_ARRAY_CLOSE (reference_inertia.data(), body_joined_rbi.toMatrix().data(), 36, TEST_PREC);
}
TEST ( TestBodyConstructorSpatialRigidBodyInertiaMultiplyMotion ) {
Body body(1.1, Vector3d (1.5, 1.2, 1.3), Vector3d (1.4, 2., 3.));
SpatialRigidBodyInertia rbi = SpatialRigidBodyInertia(
body.mMass,
body.mCenterOfMass * body.mMass,
body.mInertia
);
SpatialVector mv (1.1, 1.2, 1.3, 1.4, 1.5, 1.6);
SpatialVector fv_matrix = rbi.toMatrix() * mv;
SpatialVector fv_rbi = rbi * mv;
CHECK_ARRAY_CLOSE (
fv_matrix.data(),
fv_rbi.data(),
6,
TEST_PREC
);
}
TEST ( TestBodyConstructorSpatialRigidBodyInertia ) {
Body body(1.1, Vector3d (1.5, 1.2, 1.3), Vector3d (1.4, 2., 3.));
SpatialRigidBodyInertia rbi = SpatialRigidBodyInertia(
body.mMass,
body.mCenterOfMass * body.mMass,
body.mInertia
);
SpatialMatrix spatial_inertia = rbi.toMatrix();
CHECK_ARRAY_CLOSE (
spatial_inertia.data(),
rbi.toMatrix().data(),
36,
TEST_PREC
);
}
TEST ( TestBodyConstructorCopySpatialRigidBodyInertia ) {
Body body(1.1, Vector3d (1.5, 1.2, 1.3), Vector3d (1.4, 2., 3.));
SpatialRigidBodyInertia rbi = SpatialRigidBodyInertia(
body.mMass,
body.mCenterOfMass * body.mMass,
body.mInertia
);
SpatialRigidBodyInertia rbi_from_matrix;
rbi_from_matrix.createFromMatrix (rbi.toMatrix());
// cout << "Spatial Inertia = " << endl << spatial_inertia << endl;
// cout << "rbi = " << endl << rbi.toMatrix() << endl;
// cout << "rbi.m = " << rbi.m << endl;
// cout << "rbi.h = " << rbi.h.transpose() << endl;
// cout << "rbi.I = " << endl << rbi.I << endl;
CHECK_ARRAY_CLOSE (
rbi.toMatrix().data(),
rbi_from_matrix.toMatrix().data(),
36,
TEST_PREC
);
}