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# Copyright (C) 2007 Ruben Smits <ruben dot smits at intermodalics dot eu>
# Version: 1.0
# Author: Ruben Smits <ruben dot smits at intermodalics dot eu>
# Author: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
# Maintainer: Ruben Smits <ruben dot smits at intermodalics dot eu>
# Maintainer: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
# URL: http://www.orocos.org/kdl
# This library is free software; you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation; either
# version 2.1 of the License, or (at your option) any later version.
# This library is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# Lesser General Public License for more details.
# You should have received a copy of the GNU Lesser General Public
# License along with this library; if not, write to the Free Software
# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
from builtins import range
import gc
import psutil
from PyKDL import *
import random
import sys
import unittest
def changeJacRepresentation(J, F_bs_ee, representation):
if representation == ChainJntToJacDotSolver.HYBRID:
pass
elif representation == ChainJntToJacDotSolver.BODYFIXED:
J.changeBase(F_bs_ee.M.Inverse())
elif representation == ChainJntToJacDotSolver.INERTIAL:
J.changeRefPoint(-F_bs_ee.p)
def Jdot_diff(J_q, J_qdt, dt, Jdot):
assert J_q.columns() == J_qdt.columns()
assert J_q.columns() == Jdot.columns()
for l in range(J_q.rows()):
for c in range(J_q.columns()):
Jdot[l, c] = (J_qdt[l, c] - J_q[l, c]) / dt
class KinfamTestFunctions(unittest.TestCase):
def setUp(self):
self.chain = Chain()
self.chain.addSegment(Segment(Joint(Joint.RotZ),
Frame(Vector(0.0, 0.0, 0.0))))
self.chain.addSegment(Segment(Joint(Joint.RotX),
Frame(Vector(0.0, 0.0, 0.9))))
self.chain.addSegment(Segment(Joint(Joint.Fixed),
Frame(Vector(-0.4, 0.0, 0.0))))
self.chain.addSegment(Segment(Joint(Joint.RotY),
Frame(Vector(0.0, 0.0, 1.2))))
self.chain.addSegment(Segment(Joint(Joint.Fixed),
Frame(Vector(0.4, 0.0, 0.0))))
self.chain.addSegment(Segment(Joint(Joint.TransZ),
Frame(Vector(0.0, 0.0, 1.4))))
self.chain.addSegment(Segment(Joint(Joint.TransX),
Frame(Vector(0.0, 0.0, 0.0))))
self.chain.addSegment(Segment(Joint(Joint.TransY),
Frame(Vector(0.0, 0.0, 0.4))))
self.chain.addSegment(Segment(Joint(Joint.Fixed),
Frame(Vector(0.0, 0.0, 0.0))))
self.jacsolver = ChainJntToJacSolver(self.chain)
self.jacdotsolver = ChainJntToJacDotSolver(self.chain)
self.fksolverpos = ChainFkSolverPos_recursive(self.chain)
self.fksolvervel = ChainFkSolverVel_recursive(self.chain)
self.iksolvervel = ChainIkSolverVel_pinv(self.chain)
self.iksolvervel_givens = ChainIkSolverVel_pinv_givens(self.chain)
self.iksolverpos = ChainIkSolverPos_NR(self.chain, self.fksolverpos, self.iksolvervel)
self.iksolverpos_givens = ChainIkSolverPos_NR(self.chain, self.fksolverpos, self.iksolvervel_givens)
def testRotationalInertia(self):
ri = RotationalInertia(1, 2, 3, 4, 7, 5)
# __getitem__
for i in range(3):
for j in range(3):
self.assertEqual(ri[3*i+j], 2*abs(i-j) + max(i, j) + 1)
with self.assertRaises(IndexError):
_ = ri[-1]
with self.assertRaises(IndexError):
_ = ri[9]
# __setitem__
for i in range(3):
for j in range(3):
ri[i] = i
for i in range(3):
for j in range(3):
self.assertEqual(ri[i], i)
with self.assertRaises(IndexError):
ri[-1] = 1
with self.assertRaises(IndexError):
ri[9] = 1
def testJacobian(self):
jac = Jacobian(3)
for i in range(jac.columns()):
jac.setColumn(i, Twist(Vector(6*i+1, 6*i+2, 6*i+3), Vector(6*i+4, 6*i+5, 6*i+6)))
# __getitem__
for i in range(6):
for j in range(3):
self.assertEqual(jac[i, j], 6*j+i+1)
with self.assertRaises(IndexError):
_ = jac[-1, 0]
with self.assertRaises(IndexError):
_ = jac[6, 0]
with self.assertRaises(IndexError):
_ = jac[5, -1]
with self.assertRaises(IndexError):
_ = jac[5, 3]
# __setitem__
for i in range(6):
for j in range(3):
jac[i, j] = 3*i+j
for i in range(6):
for j in range(3):
self.assertEqual(jac[i, j], 3*i+j)
with self.assertRaises(IndexError):
jac[-1, 0] = 1
with self.assertRaises(IndexError):
jac[6, 0] = 1
with self.assertRaises(IndexError):
jac[5, -1] = 1
with self.assertRaises(IndexError):
jac[5, 3] = 1
def testJntArray(self):
ja = JntArray(3)
# __getitem__
for i in range(3):
self.assertEqual(ja[i], 0)
with self.assertRaises(IndexError):
_ = ja[-1]
with self.assertRaises(IndexError):
_ = ja[3]
# __setitem__
for i in range(3):
ja[i] = 2*i
for i in range(3):
self.assertEqual(ja[i], 2*i)
with self.assertRaises(IndexError):
ja[-1] = 1
with self.assertRaises(IndexError):
ja[3] = 1
def testFkPosAndJac(self):
deltaq = 1E-4
epsJ = 1E-4
F1 = Frame()
F2 = Frame()
q = JntArray(self.chain.getNrOfJoints())
jac = Jacobian(self.chain.getNrOfJoints())
for i in range(q.rows()):
q[i] = random.uniform(-3.14, 3.14)
self.jacsolver.JntToJac(q, jac)
for i in range(q.rows()):
oldqi = q[i]
q[i] = oldqi+deltaq
self.assertTrue(0 == self.fksolverpos.JntToCart(q, F2))
q[i] = oldqi-deltaq
self.assertTrue(0 == self.fksolverpos.JntToCart(q, F1))
q[i] = oldqi
Jcol1 = diff(F1, F2, 2*deltaq)
Jcol2 = Twist(Vector(jac[0, i], jac[1, i], jac[2, i]),
Vector(jac[3, i], jac[4, i], jac[5, i]))
self.assertEqual(Jcol1, Jcol2)
def testFkVelAndJac(self):
deltaq = 1E-4
epsJ = 1E-4
q = JntArray(self.chain.getNrOfJoints())
qdot = JntArray(self.chain.getNrOfJoints())
for i in range(q.rows()):
q[i] = random.uniform(-3.14, 3.14)
qdot[i] = random.uniform(-3.14, 3.14)
qvel = JntArrayVel(q, qdot)
jac = Jacobian(self.chain.getNrOfJoints())
cart = FrameVel.Identity()
t = Twist.Zero()
self.jacsolver.JntToJac(qvel.q, jac)
self.assertTrue(self.fksolvervel.JntToCart(qvel, cart) == 0)
MultiplyJacobian(jac, qvel.qdot, t)
self.assertEqual(cart.deriv(), t)
def testFkVelAndIkVelImpl(self, fksolvervel, iksolvervel, epsJ):
q = JntArray(self.chain.getNrOfJoints())
qdot = JntArray(self.chain.getNrOfJoints())
for i in range(q.rows()):
q[i] = random.uniform(-3.14, 3.14)
qdot[i] = random.uniform(-3.14, 3.14)
qvel = JntArrayVel(q, qdot)
qdot_solved = JntArray(self.chain.getNrOfJoints())
cart = FrameVel()
self.assertTrue(0 == fksolvervel.JntToCart(qvel, cart))
self.assertTrue(0 == iksolvervel.CartToJnt(qvel.q, cart.deriv(), qdot_solved))
self.assertEqual(qvel.qdot, qdot_solved)
def testFkVelAndIkVel(self):
epsJ = 1e-7
self.testFkVelAndIkVelImpl(self.fksolvervel, self.iksolvervel, epsJ)
def testFkVelAndIkVelGivens(self):
epsJ = 1e-7
self.testFkVelAndIkVelImpl(self.fksolvervel, self.iksolvervel_givens, epsJ)
def testFkPosAndIkPosImpl(self, fksolverpos, iksolverpos, epsJ):
q = JntArray(self.chain.getNrOfJoints())
for i in range(q.rows()):
q[i] = random.uniform(-3.14, 3.14)
q_init = JntArray(self.chain.getNrOfJoints())
for i in range(q_init.rows()):
q_init[i] = q[i]+0.1*random.random()
q_solved = JntArray(q.rows())
F1 = Frame.Identity()
F2 = Frame.Identity()
self.assertTrue(0 == fksolverpos.JntToCart(q, F1))
self.assertTrue(0 == iksolverpos.CartToJnt(q_init, F1, q_solved))
self.assertTrue(0 == fksolverpos.JntToCart(q_solved, F2))
self.assertEqual(F1, F2)
self.assertTrue(Equal(q, q_solved, epsJ), "{} != {}".format(q, q_solved))
def testFkPosAndIkPos(self):
epsJ = 1e-3
self.testFkPosAndIkPosImpl(self.fksolverpos, self.iksolverpos, epsJ)
def testFkPosAndIkPosGivens(self):
epsJ = 1e-3
self.testFkPosAndIkPosImpl(self.fksolverpos, self.iksolverpos_givens, epsJ)
def compare_Jdot_Diff_vs_Solver(self, dt, representation):
NrOfJoints = self.chain.getNrOfJoints()
q = JntArray(NrOfJoints)
qdot = JntArray(NrOfJoints)
for i in range(q.rows()):
q[i] = random.random()
qdot[i] = random.random()
q_dqdt = JntArray(q)
for i in range(q.rows()):
q_dqdt[i] += dt * qdot[i]
F_bs_ee_q = Frame.Identity()
F_bs_ee_q_dqdt = Frame.Identity()
jac_q = Jacobian(NrOfJoints)
jac_q_dqdt = Jacobian(NrOfJoints)
jdot_by_diff = Jacobian(NrOfJoints)
self.jacsolver.JntToJac(q, jac_q)
self.jacsolver.JntToJac(q_dqdt, jac_q_dqdt)
self.fksolverpos.JntToCart(q, F_bs_ee_q)
self.fksolverpos.JntToCart(q_dqdt, F_bs_ee_q_dqdt)
changeJacRepresentation(jac_q, F_bs_ee_q, representation)
changeJacRepresentation(jac_q_dqdt, F_bs_ee_q_dqdt, representation)
Jdot_diff(jac_q, jac_q_dqdt, dt, jdot_by_diff)
jdot_by_solver = Jacobian(NrOfJoints)
self.jacdotsolver.setRepresentation(representation)
self.jacdotsolver.JntToJacDot(JntArrayVel(q_dqdt, qdot), jdot_by_solver)
jdot_qdot_by_solver = Twist()
MultiplyJacobian(jdot_by_solver, qdot, jdot_qdot_by_solver)
jdot_qdot_by_diff = Twist()
MultiplyJacobian(jdot_by_diff, qdot, jdot_qdot_by_diff)
err = (jdot_qdot_by_diff.vel.Norm() - jdot_qdot_by_solver.vel.Norm()
+ jdot_qdot_by_diff.rot.Norm() - jdot_qdot_by_solver.rot.Norm())
return abs(err), jdot_qdot_by_solver, jdot_qdot_by_diff
def testJacDot(self):
dt = 1e-6
success = True
while dt <= 0.1:
eps_diff_vs_solver = 4*dt
representations = [ChainJntToJacDotSolver.HYBRID,
ChainJntToJacDotSolver.INERTIAL,
ChainJntToJacDotSolver.BODYFIXED]
for representation in representations:
err, jdot_qdot_solver, jdot_qdot_diff = self.compare_Jdot_Diff_vs_Solver(dt, representation)
success &= err <= eps_diff_vs_solver
self.assertTrue(success, "{} != {}\n"
"representation: {}\n"
"dt: {}\n"
"eps_diff_vs_solver: {}\n"
"err: {}".format(jdot_qdot_solver, jdot_qdot_diff, representation, dt,
eps_diff_vs_solver, err))
dt *= 10
class KinfamTestTree(unittest.TestCase):
def setUp(self):
self.tree = Tree()
self.tree.addSegment(Segment(Joint(Joint.RotZ),
Frame(Vector(0.0, 0.0, 0.0))), "foo")
self.tree.addSegment(Segment(Joint(Joint.Fixed),
Frame(Vector(0.0, 0.0, 0.0))), "bar")
def testTreeGetChainMemLeak(self):
# test for the memory leak in Tree.getChain described in issue #211
process = psutil.Process()
self.tree.getChain("foo", "bar")
gc.collect()
mem_before = process.memory_info().vms
# needs at least 2000 iterations on my system to cause a detectable
# difference in memory usage
for _ in range(10000):
self.tree.getChain("foo", "bar")
gc.collect()
mem_after = process.memory_info().vms
self.assertEqual(mem_before, mem_after)
def suite():
suite = unittest.TestSuite()
suite.addTest(KinfamTestFunctions('testRotationalInertia'))
suite.addTest(KinfamTestFunctions('testJacobian'))
suite.addTest(KinfamTestFunctions('testJntArray'))
suite.addTest(KinfamTestFunctions('testFkPosAndJac'))
suite.addTest(KinfamTestFunctions('testFkVelAndJac'))
suite.addTest(KinfamTestFunctions('testFkVelAndIkVel'))
suite.addTest(KinfamTestFunctions('testFkVelAndIkVelGivens'))
suite.addTest(KinfamTestFunctions('testFkPosAndIkPos'))
suite.addTest(KinfamTestFunctions('testFkPosAndIkPosGivens'))
suite.addTest(KinfamTestFunctions('testJacDot'))
suite.addTest(KinfamTestTree('testTreeGetChainMemLeak'))
return suite
if __name__ == '__main__':
suite = suite()
result = unittest.TextTestRunner(verbosity=3).run(suite)
if result.wasSuccessful():
sys.exit(0)
else:
sys.exit(1)
|
