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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 <sstream>
#include <dart/dart.hpp>
#include <dart/utils/urdf/urdf.hpp>
#include <gtest/gtest.h>
#include "TestHelpers.hpp"
using namespace dart;
//==============================================================================
TEST(IkFast, WrapCyclicSolution)
{
const auto pi = math::constantsd::pi();
double sol;
// Invalid bounds (lb > ub)
EXPECT_FALSE(dynamics::wrapCyclicSolution(0, 10, -10, sol));
// Current value is in the lmits, but solution is lesser than lower limit.
// Expect valid solution that is the cloest to the current value.
sol = -3 * pi;
EXPECT_TRUE(dynamics::wrapCyclicSolution(-pi / 2, -pi, +pi, sol));
EXPECT_DOUBLE_EQ(sol, -pi);
sol = -3 * pi;
EXPECT_TRUE(
dynamics::wrapCyclicSolution(-pi / 2, -(3.0 / 4.0) * pi, +pi, sol));
EXPECT_DOUBLE_EQ(sol, +pi);
sol = -3 * pi;
EXPECT_FALSE(
dynamics::wrapCyclicSolution(-pi / 2, -0.9 * pi, +0.9 * pi, sol));
// Current value is in the lmits, but solution is greater than upper limit.
// Expect valid solution that is the cloest to the current value.
sol = -3 * pi;
EXPECT_TRUE(dynamics::wrapCyclicSolution(+pi / 2, -pi, +pi, sol));
EXPECT_DOUBLE_EQ(sol, +pi);
sol = -3 * pi;
EXPECT_TRUE(
dynamics::wrapCyclicSolution(+pi / 2, -pi, +(3.0 / 4.0) * pi, sol));
EXPECT_DOUBLE_EQ(sol, -pi);
sol = -3 * pi;
EXPECT_FALSE(
dynamics::wrapCyclicSolution(+pi / 2, -0.9 * pi, +0.9 * pi, sol));
// Both current value and solution are lesser than lower limit.
// Expect least valid solution.
sol = -9 * pi;
EXPECT_TRUE(dynamics::wrapCyclicSolution(-5 * pi, -4 * pi, +4 * pi, sol));
EXPECT_DOUBLE_EQ(sol, -3 * pi);
sol = -9 * pi;
EXPECT_FALSE(dynamics::wrapCyclicSolution(-5 * pi, -4 * pi, -3.1 * pi, sol));
// Both current value and solution are greater than upper limit.
// Expect greatest valid solution.
sol = +9 * pi;
EXPECT_TRUE(dynamics::wrapCyclicSolution(+5 * pi, -4 * pi, +4 * pi, sol));
EXPECT_DOUBLE_EQ(sol, +3 * pi);
sol = +9 * pi;
EXPECT_FALSE(dynamics::wrapCyclicSolution(+5 * pi, +3.1 * pi, +4 * pi, sol));
}
//==============================================================================
TEST(IkFast, FailedToLoadSharedLibrary)
{
auto skel = dynamics::Skeleton::create();
ASSERT_NE(skel, nullptr);
auto bodyNode
= skel->createJointAndBodyNodePair<dynamics::FreeJoint>().second;
auto ee = bodyNode->createEndEffector("ee");
ASSERT_NE(ee, nullptr);
auto ik = ee->createIK();
ASSERT_NE(ik, nullptr);
auto ikfast = ik->setGradientMethod<dynamics::SharedLibraryIkFast>(
"doesn't exist", std::vector<std::size_t>(), std::vector<std::size_t>());
EXPECT_EQ(ikfast.isConfigured(), false);
}
//==============================================================================
TEST(IkFast, LoadWamArmIk)
{
utils::DartLoader urdfParser;
urdfParser.addPackageDirectory(
"herb_description", DART_DATA_PATH "/urdf/wam");
auto wam = urdfParser.parseSkeleton(DART_DATA_PATH "/urdf/wam/wam.urdf");
ASSERT_NE(wam, nullptr);
auto wam7 = wam->getBodyNode("/wam7");
ASSERT_NE(wam7, nullptr);
auto ee = wam7->createEndEffector("ee");
auto ik = ee->createIK();
auto targetFrame
= dynamics::SimpleFrame::createShared(dynamics::Frame::World());
targetFrame->setRotation(Eigen::Matrix3d::Identity());
ik->setTarget(targetFrame);
ik->setHierarchyLevel(1);
std::stringstream ss;
ss << DART_SHARED_LIB_PREFIX << "GeneratedWamIkFast";
ss << "." << DART_SHARED_LIB_EXTENSION;
std::string libName = ss.str();
std::vector<std::size_t> ikFastDofs{0, 1, 3, 4, 5, 6};
std::vector<std::size_t> ikFastFreeDofs{2};
ik->setGradientMethod<dynamics::SharedLibraryIkFast>(
libName, ikFastDofs, ikFastFreeDofs);
auto analytical = ik->getAnalytical();
ASSERT_NE(analytical, nullptr);
EXPECT_EQ(analytical->getDofs().size(), 6);
auto ikfast = dynamic_cast<dynamics::SharedLibraryIkFast*>(analytical);
ASSERT_NE(ikfast, nullptr);
EXPECT_EQ(ikfast->getNumJoints2(), 7);
EXPECT_EQ(ikfast->getNumFreeParameters2(), 1);
EXPECT_EQ(ikfast->getIkType2(), dynamics::IkFast::IkType::TRANSFORM_6D);
EXPECT_EQ(ikfast->getIkFastVersion2(), "71");
targetFrame->setTranslation(Eigen::Vector3d(0, 0, 0.5));
auto solutions = ikfast->getSolutions(targetFrame->getTransform());
EXPECT_TRUE(!solutions.empty());
const auto dofs = ikfast->getDofs();
for (const auto& solution : solutions)
{
ASSERT_EQ(solution.mConfig.size(), 6);
if (solution.mValidity != InverseKinematics::Analytical::VALID)
continue;
wam->setPositions(dofs, solution.mConfig);
Eigen::Isometry3d newTf = ee->getTransform();
EXPECT_TRUE(equals(targetFrame->getTransform(), newTf, 1e-2));
}
}
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