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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 <tuple>
#include <gtest/gtest.h>
#include "dart/dart.hpp"
using namespace dart;
//==============================================================================
TEST(ScrewJoint, ThreadPitch)
{
using namespace dart::math::suffixes;
// Create single-body skeleton with a screw joint
auto skel = dynamics::Skeleton::create();
auto pair = skel->createJointAndBodyNodePair<dart::dynamics::ScrewJoint>();
auto screwJoint = pair.first;
auto bodyNode = pair.second;
// Initial settings
screwJoint->setPosition(0, 0.0_pi);
const Eigen::Vector3d axis = screwJoint->getAxis();
const Eigen::Vector3d pos0 = bodyNode->getTransform().translation();
auto pitch = 0.1;
auto angle = 1.0_pi;
screwJoint->setPitch(pitch);
EXPECT_EQ(screwJoint->getPitch(), pitch);
screwJoint->setPosition(0, angle);
Eigen::Vector3d pos1 = bodyNode->getTransform().translation();
Eigen::Vector3d diff = pos1 - pos0;
Eigen::Vector3d expectedDiff = axis * pitch * angle / 2.0_pi;
EXPECT_TRUE(diff.isApprox(expectedDiff));
pitch = 1.23;
angle = 4.5_pi;
screwJoint->setPitch(pitch);
EXPECT_EQ(screwJoint->getPitch(), pitch);
screwJoint->setPosition(0, angle);
pos1 = bodyNode->getTransform().translation();
diff = pos1 - pos0;
expectedDiff = axis * pitch * angle / 2.0_pi;
EXPECT_TRUE(diff.isApprox(expectedDiff));
}
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