575 lines
17 KiB
C++
575 lines
17 KiB
C++
#include "rbdl_tests.h"
|
|
|
|
#include <iostream>
|
|
#include <iomanip>
|
|
|
|
#include "rbdl/Body.h"
|
|
#include "rbdl/rbdl_math.h"
|
|
#include "rbdl/rbdl_mathutils.h"
|
|
|
|
using namespace std;
|
|
using namespace RigidBodyDynamics;
|
|
using namespace RigidBodyDynamics::Math;
|
|
|
|
const double TEST_PREC = 1.0e-14;
|
|
|
|
SpatialMatrix spatial_adjoint(const SpatialMatrix &m) {
|
|
SpatialMatrix res (m);
|
|
res.block<3,3>(3,0) = m.block<3,3>(0,3);
|
|
res.block<3,3>(0,3) = m.block<3,3>(3,0);
|
|
return res;
|
|
}
|
|
|
|
SpatialMatrix spatial_inverse(const SpatialMatrix &m) {
|
|
SpatialMatrix res(m);
|
|
res.block<3,3>(0,0) = m.block<3,3>(0,0).transpose();
|
|
res.block<3,3>(3,0) = m.block<3,3>(3,0).transpose();
|
|
res.block<3,3>(0,3) = m.block<3,3>(0,3).transpose();
|
|
res.block<3,3>(3,3) = m.block<3,3>(3,3).transpose();
|
|
return res;
|
|
}
|
|
|
|
Matrix3d get_rotation (const SpatialMatrix &m) {
|
|
return m.block<3,3>(0,0);
|
|
}
|
|
|
|
Vector3d get_translation (const SpatialMatrix &m) {
|
|
return Vector3d (-m(4,2), m(3,2), -m(3,1));
|
|
}
|
|
|
|
/// \brief Checks the multiplication of a SpatialMatrix with a SpatialVector
|
|
TEST_CASE(__FILE__"_TestSpatialMatrixTimesSpatialVector", "") {
|
|
SpatialMatrix s_matrix (
|
|
1., 0., 0., 0., 0., 7.,
|
|
0., 2., 0., 0., 8., 0.,
|
|
0., 0., 3., 9., 0., 0.,
|
|
0., 0., 6., 4., 0., 0.,
|
|
0., 5., 0., 0., 5., 0.,
|
|
4., 0., 0., 0., 0., 6.
|
|
);
|
|
SpatialVector s_vector (
|
|
1., 2., 3., 4., 5., 6.
|
|
);
|
|
|
|
SpatialVector result;
|
|
result = s_matrix * s_vector;
|
|
|
|
SpatialVector test_result (
|
|
43., 44., 45., 34., 35., 40.
|
|
);
|
|
REQUIRE_THAT(test_result, AllCloseVector(result, 0., 0.));
|
|
}
|
|
|
|
|
|
/// \brief Checks the multiplication of a scalar with a SpatialVector
|
|
TEST_CASE(__FILE__"_TestScalarTimesSpatialVector", "") {
|
|
SpatialVector s_vector (
|
|
1., 2., 3., 4., 5., 6.
|
|
);
|
|
|
|
SpatialVector result;
|
|
result = 3. * s_vector;
|
|
|
|
SpatialVector test_result(3., 6., 9., 12., 15., 18.);
|
|
|
|
REQUIRE_THAT (test_result, AllCloseVector(result, 0., 0.));
|
|
}
|
|
|
|
|
|
/// \brief Checks the multiplication of a scalar with a SpatialMatrix
|
|
TEST_CASE(__FILE__"_TestScalarTimesSpatialMatrix", "") {
|
|
SpatialMatrix s_matrix (
|
|
1., 0., 0., 0., 0., 7.,
|
|
0., 2., 0., 0., 8., 0.,
|
|
0., 0., 3., 9., 0., 0.,
|
|
0., 0., 6., 4., 0., 0.,
|
|
0., 5., 0., 0., 5., 0.,
|
|
4., 0., 0., 0., 0., 6.
|
|
);
|
|
|
|
SpatialMatrix result;
|
|
result = 3. * s_matrix;
|
|
|
|
SpatialMatrix test_result(
|
|
3., 0., 0., 0., 0., 21.,
|
|
0., 6., 0., 0., 24., 0.,
|
|
0., 0., 9., 27., 0., 0.,
|
|
0., 0., 18., 12., 0., 0.,
|
|
0., 15., 0., 0., 15., 0.,
|
|
12., 0., 0., 0., 0., 18.
|
|
);
|
|
|
|
REQUIRE_THAT (test_result, AllCloseMatrix(result, 0., 0.));
|
|
}
|
|
|
|
|
|
/// \brief Checks the multiplication of a scalar with a SpatialMatrix
|
|
TEST_CASE(__FILE__"_TestSpatialMatrixTimesSpatialMatrix", "") {
|
|
SpatialMatrix s_matrix (
|
|
1., 0., 0., 0., 0., 7.,
|
|
0., 2., 0., 0., 8., 0.,
|
|
0., 0., 3., 9., 0., 0.,
|
|
0., 0., 6., 4., 0., 0.,
|
|
0., 5., 0., 0., 5., 0.,
|
|
4., 0., 0., 0., 0., 6.
|
|
);
|
|
|
|
SpatialMatrix result;
|
|
result = s_matrix * s_matrix;
|
|
|
|
SpatialMatrix test_result(
|
|
29., 0., 0., 0., 0., 49.,
|
|
0., 44., 0., 0., 56., 0.,
|
|
0., 0., 63., 63., 0., 0.,
|
|
0., 0., 42., 70., 0., 0.,
|
|
0., 35., 0., 0., 65., 0.,
|
|
28., 0., 0., 0., 0., 64.
|
|
);
|
|
|
|
REQUIRE_THAT(test_result, AllCloseMatrix(result, 0., 0.));
|
|
}
|
|
|
|
/// \brief Checks the adjoint method
|
|
//
|
|
// This method computes a spatial force transformation from a spatial
|
|
// motion transformation and vice versa
|
|
TEST_CASE(__FILE__"_TestSpatialMatrixTransformAdjoint", "") {
|
|
SpatialMatrix s_matrix (
|
|
1., 2., 3., 4., 5., 6.,
|
|
7., 8., 9., 10., 11., 12.,
|
|
13., 14., 15., 16., 17., 18.,
|
|
19., 20., 21., 22., 23., 24.,
|
|
25., 26., 27., 28., 29., 30.,
|
|
31., 32., 33., 34., 35., 36.
|
|
);
|
|
|
|
SpatialMatrix result = spatial_adjoint(s_matrix);
|
|
|
|
SpatialMatrix test_result_matrix (
|
|
1., 2., 3., 19., 20., 21.,
|
|
7., 8., 9., 25., 26., 27.,
|
|
13., 14., 15., 31., 32., 33.,
|
|
4., 5., 6., 22., 23., 24.,
|
|
10., 11., 12., 28., 29., 30.,
|
|
16., 17., 18., 34., 35., 36.);
|
|
|
|
REQUIRE_THAT (test_result_matrix, AllCloseMatrix(result, 0., 0.));
|
|
}
|
|
|
|
TEST_CASE(__FILE__"_TestSpatialMatrixInverse", "") {
|
|
SpatialMatrix s_matrix (
|
|
0, 1, 2, 0, 1, 2,
|
|
3, 4, 5, 3, 4, 5,
|
|
6, 7, 8, 6, 7, 8,
|
|
0, 1, 2, 0, 1, 2,
|
|
3, 4, 5, 3, 4, 5,
|
|
6, 7, 8, 6, 7, 8
|
|
);
|
|
|
|
SpatialMatrix test_inv (
|
|
0, 3, 6, 0, 3, 6,
|
|
1, 4, 7, 1, 4, 7,
|
|
2, 5, 8, 2, 5, 8,
|
|
0, 3, 6, 0, 3, 6,
|
|
1, 4, 7, 1, 4, 7,
|
|
2, 5, 8, 2, 5, 8
|
|
);
|
|
|
|
REQUIRE_THAT (test_inv, AllCloseMatrix(spatial_inverse(s_matrix), 0., 0.));
|
|
}
|
|
|
|
TEST_CASE(__FILE__"_TestSpatialMatrixGetRotation", "") {
|
|
SpatialMatrix spatial_transform (
|
|
1., 2., 3., 0., 0., 0.,
|
|
4., 5., 6., 0., 0., 0.,
|
|
7., 8., 9., 0., 0., 0.,
|
|
0., 0., 0., 0., 0., 0.,
|
|
0., 0., 0., 0., 0., 0.,
|
|
0., 0., 0., 0., 0., 0.
|
|
);
|
|
|
|
// Matrix3d rotation = spatial_transform.block<3,3>(0,0);
|
|
Matrix3d rotation = get_rotation (spatial_transform);
|
|
Matrix3d test_result (
|
|
1., 2., 3.,
|
|
4., 5., 6.,
|
|
7., 8., 9.
|
|
);
|
|
|
|
REQUIRE_THAT (test_result, AllCloseMatrix(rotation, 0., 0.));
|
|
}
|
|
|
|
TEST_CASE(__FILE__"_TestSpatialMatrixGetTranslation", "") {
|
|
SpatialMatrix spatial_transform (
|
|
0., 0., 0., 0., 0., 0.,
|
|
0., 0., 0., 0., 0., 0.,
|
|
0., 0., 0., 0., 0., 0.,
|
|
0., -3., 2., 0., 0., 0.,
|
|
0., 0., -1., 0., 0., 0.,
|
|
0., 0., 0., 0., 0., 0.
|
|
);
|
|
|
|
Vector3d translation = get_translation(spatial_transform);
|
|
Vector3d test_result (
|
|
1., 2., 3.
|
|
);
|
|
|
|
REQUIRE_THAT (test_result, AllCloseMatrix(translation, 0., 0.));
|
|
}
|
|
|
|
TEST_CASE(__FILE__"_TestSpatialVectorCross", "") {
|
|
SpatialVector s_vec (1., 2., 3., 4., 5., 6.);
|
|
|
|
SpatialMatrix test_cross (
|
|
0., -3., 2., 0., 0., 0.,
|
|
3., 0., -1., 0., 0., 0.,
|
|
-2., 1., 0., 0., 0., 0.,
|
|
0., -6., 5., 0., -3., 2.,
|
|
6., 0., -4., 3., 0., -1.,
|
|
-5., 4., 0., -2., 1., 0.
|
|
);
|
|
|
|
SpatialMatrix s_vec_cross (crossm(s_vec));
|
|
REQUIRE_THAT (test_cross, AllCloseMatrix(s_vec_cross, 0., 0.));
|
|
|
|
SpatialMatrix s_vec_crossf (crossf(s_vec));
|
|
SpatialMatrix test_crossf = -1. * crossm(s_vec).transpose();
|
|
|
|
REQUIRE_THAT (test_crossf, AllCloseMatrix(s_vec_crossf, 0., 0.));
|
|
}
|
|
|
|
TEST_CASE(__FILE__"_TestSpatialVectorCrossmCrossf", "") {
|
|
SpatialVector s_vec (1., 2., 3., 4., 5., 6.);
|
|
SpatialVector t_vec (9., 8., 7., 6., 5., 4.);
|
|
|
|
// by explicitly building the matrices (crossm/f with only one vector)
|
|
SpatialVector crossm_s_x_t = crossm(s_vec) * t_vec;
|
|
SpatialVector crossf_s_x_t = crossf(s_vec) * t_vec;
|
|
|
|
// by using direct computation that avoids building of the matrix
|
|
SpatialVector crossm_s_t = crossm(s_vec, t_vec);
|
|
SpatialVector crossf_s_t = crossf(s_vec, t_vec);
|
|
|
|
/*
|
|
cout << crossm_s_x_t << endl;
|
|
cout << "---" << endl;
|
|
cout << crossf_s_x_t << endl;
|
|
cout << "---" << endl;
|
|
cout << crossf_s_t << endl;
|
|
*/
|
|
|
|
REQUIRE_THAT (crossm_s_x_t, AllCloseVector(crossm_s_t, 0., 0.));
|
|
}
|
|
|
|
TEST_CASE(__FILE__"_TestSpatialTransformApply", "") {
|
|
Vector3d rot (1.1, 1.2, 1.3);
|
|
Vector3d trans (1.1, 1.2, 1.3);
|
|
|
|
SpatialTransform X_st;
|
|
X_st.r = trans;
|
|
|
|
SpatialMatrix X_66_matrix (SpatialMatrix::Zero(6,6));
|
|
X_66_matrix = Xrotz_mat (rot[2]) * Xroty_mat (rot[1]) * Xrotx_mat (rot[0]) * Xtrans_mat(trans);
|
|
X_st.E = X_66_matrix.block<3,3>(0,0);
|
|
|
|
// cout << X_66_matrix << endl;
|
|
// cout << X_st.E << endl;
|
|
// cout << X_st.r.transpose() << endl;
|
|
|
|
SpatialVector v (1.1, 2.1, 3.1, 4.1, 5.1, 6.1);
|
|
SpatialVector v_66_res = X_66_matrix * v;
|
|
SpatialVector v_st_res = X_st.apply(v);
|
|
|
|
// cout << (v_66_res - v_st_res).transpose() << endl;
|
|
|
|
REQUIRE_THAT (v_66_res, AllCloseVector(v_st_res, TEST_PREC, TEST_PREC));
|
|
}
|
|
|
|
TEST_CASE(__FILE__"_TestSpatialTransformApplyTranspose", "") {
|
|
Vector3d rot (1.1, 1.2, 1.3);
|
|
Vector3d trans (1.1, 1.2, 1.3);
|
|
|
|
SpatialTransform X_st;
|
|
X_st.r = trans;
|
|
|
|
SpatialMatrix X_66_matrix (SpatialMatrix::Zero(6,6));
|
|
X_66_matrix = Xrotz_mat (rot[2]) * Xroty_mat (rot[1]) * Xrotx_mat (rot[0]) * Xtrans_mat(trans);
|
|
X_st.E = X_66_matrix.block<3,3>(0,0);
|
|
|
|
// cout << X_66_matrix << endl;
|
|
// cout << X_st.E << endl;
|
|
// cout << X_st.r.transpose() << endl;
|
|
|
|
SpatialVector v (1.1, 2.1, 3.1, 4.1, 5.1, 6.1);
|
|
SpatialVector v_66_res = X_66_matrix.transpose() * v;
|
|
SpatialVector v_st_res = X_st.applyTranspose(v);
|
|
|
|
// cout << (v_66_res - v_st_res).transpose() << endl;
|
|
|
|
REQUIRE_THAT (v_66_res, AllCloseVector(v_st_res, TEST_PREC, TEST_PREC));
|
|
}
|
|
|
|
TEST_CASE(__FILE__"_TestSpatialTransformApplyAdjoint", "") {
|
|
SpatialTransform X (
|
|
Xrotz (0.5) *
|
|
Xroty (0.9) *
|
|
Xrotx (0.2) *
|
|
Xtrans (Vector3d (1.1, 1.2, 1.3))
|
|
);
|
|
|
|
SpatialMatrix X_adjoint = X.toMatrixAdjoint();
|
|
|
|
SpatialVector f (1.1, 2.1, 4.1, 9.2, 3.3, 0.8);
|
|
SpatialVector f_apply = X.applyAdjoint(f);
|
|
SpatialVector f_matrix = X_adjoint * f;
|
|
|
|
REQUIRE_THAT (f_matrix, AllCloseVector(f_apply, TEST_PREC, TEST_PREC));
|
|
}
|
|
|
|
TEST_CASE(__FILE__"_TestSpatialTransformToMatrix", "") {
|
|
Vector3d rot (1.1, 1.2, 1.3);
|
|
Vector3d trans (1.1, 1.2, 1.3);
|
|
|
|
SpatialMatrix X_matrix (SpatialMatrix::Zero(6,6));
|
|
X_matrix = Xrotz_mat (rot[2]) * Xroty_mat (rot[1]) * Xrotx_mat (rot[0]) * Xtrans_mat(trans);
|
|
|
|
SpatialTransform X_st;
|
|
X_st.E = X_matrix.block<3,3>(0,0);
|
|
X_st.r = trans;
|
|
|
|
// SpatialMatrix X_diff = X_st.toMatrix() - X_matrix;
|
|
// cout << "Error: " << endl << X_diff << endl;
|
|
|
|
REQUIRE_THAT (X_matrix, AllCloseMatrix(X_st.toMatrix(), TEST_PREC, TEST_PREC));
|
|
}
|
|
|
|
TEST_CASE(__FILE__"_TestSpatialTransformToMatrixAdjoint", "") {
|
|
Vector3d rot (1.1, 1.2, 1.3);
|
|
Vector3d trans (1.1, 1.2, 1.3);
|
|
|
|
SpatialMatrix X_matrix (SpatialMatrix::Zero(6,6));
|
|
X_matrix = Xrotz_mat (rot[2]) * Xroty_mat (rot[1]) * Xrotx_mat (rot[0]) * Xtrans_mat(trans);
|
|
|
|
SpatialTransform X_st;
|
|
X_st.E = X_matrix.block<3,3>(0,0);
|
|
X_st.r = trans;
|
|
|
|
// SpatialMatrix X_diff = X_st.toMatrixAdjoint() - spatial_adjoint(X_matrix);
|
|
// cout << "Error: " << endl << X_diff << endl;
|
|
|
|
REQUIRE_THAT (spatial_adjoint(X_matrix), AllCloseMatrix(X_st.toMatrixAdjoint(), TEST_PREC, TEST_PREC));
|
|
}
|
|
|
|
TEST_CASE(__FILE__"_TestSpatialTransformToMatrixTranspose", "") {
|
|
Vector3d rot (1.1, 1.2, 1.3);
|
|
Vector3d trans (1.1, 1.2, 1.3);
|
|
|
|
SpatialMatrix X_matrix (SpatialMatrix::Zero(6,6));
|
|
X_matrix = Xrotz_mat (rot[2]) * Xroty_mat (rot[1]) * Xrotx_mat (rot[0]) * Xtrans_mat(trans);
|
|
|
|
SpatialTransform X_st;
|
|
X_st.E = X_matrix.block<3,3>(0,0);
|
|
X_st.r = trans;
|
|
|
|
// we have to copy the matrix as it is only transposed via a flag and
|
|
// thus data() does not return the proper data.
|
|
SpatialMatrix X_matrix_transposed = X_matrix.transpose();
|
|
// SpatialMatrix X_diff = X_st.toMatrixTranspose() - X_matrix_transposed;
|
|
// cout << "Error: " << endl << X_diff << endl;
|
|
// cout << "X_st: " << endl << X_st.toMatrixTranspose() << endl;
|
|
// cout << "X: " << endl << X_matrix_transposed() << endl;
|
|
|
|
REQUIRE_THAT (X_matrix_transposed, AllCloseMatrix(X_st.toMatrixTranspose(), TEST_PREC, TEST_PREC));
|
|
}
|
|
|
|
TEST_CASE(__FILE__"_TestSpatialTransformMultiply", "") {
|
|
Vector3d rot (1.1, 1.2, 1.3);
|
|
Vector3d trans (1.1, 1.2, 1.3);
|
|
|
|
SpatialMatrix X_matrix_1 (SpatialMatrix::Zero(6,6));
|
|
SpatialMatrix X_matrix_2 (SpatialMatrix::Zero(6,6));
|
|
|
|
X_matrix_1 = Xrotz_mat (rot[2]) * Xroty_mat (rot[1]) * Xrotx_mat (rot[0]) * Xtrans_mat(trans);
|
|
X_matrix_2 = Xrotz_mat (rot[2]) * Xroty_mat (rot[1]) * Xrotx_mat (rot[0]) * Xtrans_mat(trans);
|
|
|
|
SpatialTransform X_st_1;
|
|
SpatialTransform X_st_2;
|
|
|
|
X_st_1.E = X_matrix_1.block<3,3>(0,0);
|
|
X_st_1.r = trans;
|
|
X_st_2.E = X_matrix_2.block<3,3>(0,0);
|
|
X_st_2.r = trans;
|
|
|
|
SpatialTransform X_st_res = X_st_1 * X_st_2;
|
|
SpatialMatrix X_matrix_res = X_matrix_1 * X_matrix_2;
|
|
|
|
// SpatialMatrix X_diff = X_st_res.toMatrix() - X_matrix_res;
|
|
// cout << "Error: " << endl << X_diff << endl;
|
|
|
|
REQUIRE_THAT (X_matrix_res, AllCloseMatrix(X_st_res.toMatrix(), TEST_PREC, TEST_PREC));
|
|
}
|
|
|
|
TEST_CASE(__FILE__"_TestSpatialTransformMultiplyEqual", "") {
|
|
Vector3d rot (1.1, 1.2, 1.3);
|
|
Vector3d trans (1.1, 1.2, 1.3);
|
|
|
|
SpatialMatrix X_matrix_1 (SpatialMatrix::Zero(6,6));
|
|
SpatialMatrix X_matrix_2 (SpatialMatrix::Zero(6,6));
|
|
|
|
X_matrix_1 = Xrotz_mat (rot[2]) * Xroty_mat (rot[1]) * Xrotx_mat (rot[0]) * Xtrans_mat(trans);
|
|
X_matrix_2 = Xrotz_mat (rot[2]) * Xroty_mat (rot[1]) * Xrotx_mat (rot[0]) * Xtrans_mat(trans);
|
|
|
|
SpatialTransform X_st_1;
|
|
SpatialTransform X_st_2;
|
|
|
|
X_st_1.E = X_matrix_1.block<3,3>(0,0);
|
|
X_st_1.r = trans;
|
|
X_st_2.E = X_matrix_2.block<3,3>(0,0);
|
|
X_st_2.r = trans;
|
|
|
|
SpatialTransform X_st_res = X_st_1;
|
|
X_st_res *= X_st_2;
|
|
SpatialMatrix X_matrix_res = X_matrix_1 * X_matrix_2;
|
|
|
|
// SpatialMatrix X_diff = X_st_res.toMatrix() - X_matrix_res;
|
|
// cout << "Error: " << endl << X_diff << endl;
|
|
|
|
REQUIRE_THAT (X_matrix_res, AllCloseMatrix(X_st_res.toMatrix(), TEST_PREC, TEST_PREC));
|
|
}
|
|
|
|
TEST_CASE(__FILE__"_TestXrotAxis", "") {
|
|
SpatialTransform X_rotX = Xrotx (M_PI * 0.15);
|
|
SpatialTransform X_rotX_axis = Xrot (M_PI * 0.15, Vector3d (1., 0., 0.));
|
|
|
|
REQUIRE_THAT (X_rotX.toMatrix(), AllCloseMatrix(X_rotX_axis.toMatrix(), TEST_PREC, TEST_PREC));
|
|
|
|
// all the other axes
|
|
SpatialTransform X_rotX_90 = Xrotx (M_PI * 0.5);
|
|
SpatialTransform X_rotX_90_axis = Xrot (M_PI * 0.5, Vector3d (1., 0., 0.));
|
|
|
|
REQUIRE_THAT (X_rotX_90.toMatrix(), AllCloseMatrix(X_rotX_90_axis.toMatrix(), TEST_PREC, TEST_PREC));
|
|
|
|
SpatialTransform X_rotY_90 = Xroty (M_PI * 0.5);
|
|
SpatialTransform X_rotY_90_axis = Xrot (M_PI * 0.5, Vector3d (0., 1., 0.));
|
|
|
|
REQUIRE_THAT (X_rotY_90.toMatrix(), AllCloseMatrix(X_rotY_90_axis.toMatrix(), TEST_PREC, TEST_PREC));
|
|
|
|
SpatialTransform X_rotZ_90 = Xrotz (M_PI * 0.5);
|
|
SpatialTransform X_rotZ_90_axis = Xrot (M_PI * 0.5, Vector3d (0., 0., 1.));
|
|
|
|
REQUIRE_THAT (X_rotZ_90.toMatrix(), AllCloseMatrix(X_rotZ_90_axis.toMatrix(), TEST_PREC, TEST_PREC));
|
|
}
|
|
|
|
TEST_CASE(__FILE__"_TestSpatialTransformApplySpatialRigidBodyInertiaAdd", "") {
|
|
SpatialRigidBodyInertia rbi (
|
|
1.1,
|
|
Vector3d (1.2, 1.3, 1.4),
|
|
Matrix3d (
|
|
1.1, 0.5, 0.3,
|
|
0.5, 1.2, 0.4,
|
|
0.3, 0.4, 1.3
|
|
));
|
|
|
|
SpatialMatrix rbi_matrix_added = rbi.toMatrix() + rbi.toMatrix();
|
|
SpatialRigidBodyInertia rbi_added = rbi + rbi;
|
|
|
|
// cout << "rbi = " << endl << rbi.toMatrix() << endl;
|
|
// cout << "rbi_added = " << endl << rbi_added.toMatrix() << endl;
|
|
// cout << "rbi_matrix_added = " << endl << rbi_matrix_added << endl;
|
|
// cout << "diff = " << endl <<
|
|
// rbi_added.toMatrix() - rbi_matrix_added << endl;
|
|
|
|
|
|
REQUIRE_THAT (rbi_matrix_added, AllCloseMatrix(rbi_added.toMatrix(), TEST_PREC, TEST_PREC));
|
|
}
|
|
|
|
TEST_CASE(__FILE__"_TestSpatialTransformApplySpatialRigidBodyInertiaFull", "") {
|
|
SpatialRigidBodyInertia rbi (
|
|
1.1,
|
|
Vector3d (1.2, 1.3, 1.4),
|
|
Matrix3d (
|
|
1.1, 0.5, 0.3,
|
|
0.5, 1.2, 0.4,
|
|
0.3, 0.4, 1.3
|
|
));
|
|
|
|
SpatialTransform X (
|
|
Xrotz (0.5) *
|
|
Xroty (0.9) *
|
|
Xrotx (0.2) *
|
|
Xtrans (Vector3d (1.1, 1.2, 1.3))
|
|
);
|
|
|
|
SpatialRigidBodyInertia rbi_transformed = X.apply (rbi);
|
|
SpatialMatrix rbi_matrix_transformed = X.toMatrixAdjoint () * rbi.toMatrix() * X.inverse().toMatrix();
|
|
|
|
REQUIRE_THAT (rbi_matrix_transformed, AllCloseMatrix(rbi_transformed.toMatrix(), TEST_PREC, TEST_PREC));
|
|
}
|
|
|
|
TEST_CASE(__FILE__"_TestSpatialTransformApplyTransposeSpatialRigidBodyInertiaFull", "") {
|
|
SpatialRigidBodyInertia rbi (
|
|
1.1,
|
|
Vector3d (1.2, 1.3, 1.4),
|
|
Matrix3d (
|
|
1.1, 0.5, 0.3,
|
|
0.5, 1.2, 0.4,
|
|
0.3, 0.4, 1.3
|
|
));
|
|
|
|
SpatialTransform X (
|
|
Xrotz (0.5) *
|
|
Xroty (0.9) *
|
|
Xrotx (0.2) *
|
|
Xtrans (Vector3d (1.1, 1.2, 1.3))
|
|
);
|
|
|
|
SpatialRigidBodyInertia rbi_transformed = X.applyTranspose (rbi);
|
|
SpatialMatrix rbi_matrix_transformed = X.toMatrixTranspose() * rbi.toMatrix() * X.toMatrix();
|
|
|
|
REQUIRE_THAT (rbi_matrix_transformed, AllCloseMatrix(rbi_transformed.toMatrix(), TEST_PREC, TEST_PREC));
|
|
}
|
|
|
|
TEST_CASE(__FILE__"_TestSpatialRigidBodyInertiaCreateFromMatrix", "") {
|
|
double mass = 1.1;
|
|
Vector3d com (0., 0., 0.);
|
|
Matrix3d inertia (
|
|
1.1, 0.5, 0.3,
|
|
0.5, 1.2, 0.4,
|
|
0.3, 0.4, 1.3
|
|
);
|
|
SpatialRigidBodyInertia body_rbi(mass, com , inertia);
|
|
|
|
SpatialMatrix spatial_inertia = body_rbi.toMatrix();
|
|
|
|
SpatialRigidBodyInertia rbi;
|
|
rbi.createFromMatrix (spatial_inertia);
|
|
|
|
REQUIRE_THAT (mass, IsClose(rbi.m, 0., 0.));
|
|
REQUIRE_THAT (Vector3d(mass * com), AllCloseVector(rbi.h, 0., 0.));
|
|
Matrix3d rbi_I_matrix (
|
|
rbi.Ixx, rbi.Iyx, rbi.Izx,
|
|
rbi.Iyx, rbi.Iyy, rbi.Izy,
|
|
rbi.Izx, rbi.Izy, rbi.Izz
|
|
);
|
|
REQUIRE_THAT (inertia, AllCloseMatrix(rbi_I_matrix, 0., 0.));
|
|
}
|
|
|
|
#ifdef USE_SLOW_SPATIAL_ALGEBRA
|
|
TEST_CASE(__FILE__"_TestSpatialLinSolve", "") {
|
|
SpatialVector b (1, 2, 0, 1, 1, 1);
|
|
SpatialMatrix A (
|
|
1., 2., 3., 0., 0., 0.,
|
|
3., 4., 5., 0., 0., 0.,
|
|
6., 7., 7., 0., 0., 0.,
|
|
0., 0., 0., 1., 0., 0.,
|
|
0., 0., 0., 0., 1., 0.,
|
|
0., 0., 0., 0., 0., 1.
|
|
);
|
|
|
|
SpatialVector x = SpatialLinSolve (A, b);
|
|
SpatialVector x_test (3.5, -6.5, 3.5, 1, 1, 1);
|
|
|
|
REQUIRE_THAT (x_test, AllCloseVector(x, TEST_PREC, TEST_PREC));
|
|
}
|
|
#endif
|