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// Copyright 2021 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// Tests of the entire pipeline that are not easily associated with one file.
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include "src/engine/engine_io.h"
#include "test/fixture.h"
namespace mujoco {
namespace {
std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
return std::vector<mjtNum>(array, array + n);
}
static const char* const kDefaultModel = "testdata/model.xml";
using ::testing::Pointwise;
using ::testing::DoubleNear;
using PipelineTest = MujocoTest;
// Joint and actuator damping should integrate identically under implicit
TEST_F(PipelineTest, SparseDenseEqivalent) {
const std::string xml_path = GetTestDataFilePath(kDefaultModel);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
mjData* data = mj_makeData(model);
// set dense jacobian, call mj_forward, save accelerations
model->opt.jacobian = mjJAC_DENSE;
mj_forward(model, data);
std::vector<mjtNum> qacc_dense = AsVector(data->qacc, model->nv);
// set sparse jacobian, call mj_forward, save accelerations
model->opt.jacobian = mjJAC_SPARSE;
mj_forward(model, data);
std::vector<mjtNum> qacc_sparse = AsVector(data->qacc, model->nv);
// expect accelerations to be insignificantly different
mjtNum tol = 1e-12;
EXPECT_THAT(qacc_dense, Pointwise(DoubleNear(tol), qacc_sparse));
// TODO: is 1e-12 larger than we expect?
// investigate sources of discrepancy, eliminate if possible
mj_deleteData(data);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco
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