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/*
* Copyright (c) 2011-2021, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include <TestHelpers.hpp>
#include <dart/dart.hpp>
#include <dart/utils/sdf/sdf.hpp>
#include <gtest/gtest.h>
//========================================================================================
TEST(Issue1596, ServoJointWithPositionLimits)
{
#if NDEBUG // release
const auto num_steps = 50000;
#else
const auto num_steps = 1000;
#endif
auto skel = dart::utils::SdfParser::readSkeleton(
"dart://sample/sdf/test/test_issue1596.model");
ASSERT_NE(skel, nullptr);
auto world = dart::simulation::World::create();
world->setGravity(Eigen::Vector3d(9.81, 9.81, 0));
world->addSkeleton(skel);
ASSERT_EQ(world->getNumSkeletons(), 1);
auto* joint0 = skel->getJoint("joint_00");
auto* joint1 = skel->getJoint("joint_01");
std::vector<dart::dynamics::Joint*> joints = {joint0, joint1};
for (auto joint : joints)
{
ASSERT_NE(joint, nullptr);
ASSERT_EQ(
joint->getType(), dart::dynamics::UniversalJoint::getStaticType());
EXPECT_EQ(joint->getNumDofs(), 2);
joint->setLimitEnforcement(true);
EXPECT_DOUBLE_EQ(0, joint->getPosition(0));
EXPECT_DOUBLE_EQ(0, joint->getPosition(1));
EXPECT_DOUBLE_EQ(0, joint->getVelocity(0));
EXPECT_DOUBLE_EQ(0, joint->getVelocity(1));
EXPECT_DOUBLE_EQ(0, joint->getAcceleration(0));
EXPECT_DOUBLE_EQ(0, joint->getAcceleration(1));
}
for (std::size_t i = 0; i < num_steps; ++i)
{
world->step();
for (const auto joint : joints)
{
const double pos0 = joint->getPosition(0);
const double pos1 = joint->getPosition(1);
EXPECT_LE(pos0, joint->getPositionUpperLimit(0) + 1e-6);
EXPECT_LE(pos1, joint->getPositionUpperLimit(1) + 1e-6);
EXPECT_GE(pos0, joint->getPositionLowerLimit(0) - 1e-6);
EXPECT_GE(pos1, joint->getPositionLowerLimit(1) - 1e-6);
}
}
}
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