From ca6d0bc459a1a34dd6d33c3a742fff4f05318236 Mon Sep 17 00:00:00 2001
From: Gabriele Buondonno <gbuondon@laas.fr>
Date: Fri, 15 Nov 2019 11:28:33 +0100
Subject: [PATCH] [test] [python] [geometric_shapes] Test volume, CoM, and
inertia
---
test/python_unit/geometric_shapes.py | 82 ++++++++++++++++++++++++++--
1 file changed, 78 insertions(+), 4 deletions(-)
diff --git a/test/python_unit/geometric_shapes.py b/test/python_unit/geometric_shapes.py
index cc2d5b00..cf96f327 100644
--- a/test/python_unit/geometric_shapes.py
+++ b/test/python_unit/geometric_shapes.py
@@ -1,9 +1,10 @@
import unittest
+from test_case import TestCase
import hppfcl
hppfcl.switchToNumpyMatrix()
import numpy as np
-class TestGeometricShapes(unittest.TestCase):
+class TestGeometricShapes(TestCase):
def test_capsule(self):
capsule = hppfcl.Capsule(1.,2.)
@@ -17,6 +18,27 @@ class TestGeometricShapes(unittest.TestCase):
capsule.halfLength = 4.
self.assertEqual(capsule.radius,3.)
self.assertEqual(capsule.halfLength,4.)
+ com = capsule.computeCOM()
+ self.assertApprox(com, np.zeros(3))
+ V = capsule.computeVolume()
+ V_cylinder = capsule.radius * capsule.radius * np.pi * 2. * capsule.halfLength
+ V_sphere = 4. * np.pi/3 * capsule.radius**3
+ V_ref = V_cylinder + V_sphere
+ self.assertApprox(V, V_ref)
+ I0 = capsule.computeMomentofInertia()
+ Iz_cylinder = V_cylinder * capsule.radius**2 / 2.
+ Iz_sphere = 0.4 * V_sphere * capsule.radius * capsule.radius
+ Iz_ref = Iz_cylinder + Iz_sphere
+ Ix_cylinder = V_cylinder*(3 * capsule.radius**2 + 4 * capsule.halfLength**2)/12.
+# TODO: check this code
+# Ix_sphere = Iz_sphere + V_sphere*capsule.halfLength**2
+# Ix_ref = Ix_cylinder + Ix_sphere
+# print(Ix_cylinder)
+# print(Ix_sphere)
+# I0_ref = np.diag([Ix_ref,Ix_ref,Iz_ref])
+# self.assertApprox(I0.diagonal(), I0_ref.diagonal())
+# Ic = capsule.computeMomentofInertiaRelatedToCOM()
+# self.assertApprox(Ic, I0_ref)
def test_box1(self):
box = hppfcl.Box(np.matrix([1.,2.,3.]).T)
@@ -27,6 +49,22 @@ class TestGeometricShapes(unittest.TestCase):
self.assertTrue(np.array_equal(box.halfSide,np.matrix([.5,1.,1.5]).T))
box.halfSide = np.matrix([4.,5.,6.]).T
self.assertTrue(np.array_equal(box.halfSide,np.matrix([4.,5.,6.]).T))
+ com = box.computeCOM()
+ self.assertApprox(com, np.zeros(3))
+ V = box.computeVolume()
+ x = float(2*box.halfSide[0])
+ y = float(2*box.halfSide[1])
+ z = float(2*box.halfSide[2])
+ V_ref = x * y * z
+ self.assertApprox(V, V_ref)
+ I0 = box.computeMomentofInertia()
+ Ix = V_ref * (y*y + z*z) / 12.
+ Iy = V_ref * (x*x + z*z) / 12.
+ Iz = V_ref * (y*y + x*x) / 12.
+ I0_ref = np.diag([Ix,Iy,Iz])
+ self.assertApprox(I0, I0_ref)
+ Ic = box.computeMomentofInertiaRelatedToCOM()
+ self.assertApprox(Ic, I0_ref)
def test_box2(self):
box = hppfcl.Box(1.,2.,3)
@@ -37,16 +75,26 @@ class TestGeometricShapes(unittest.TestCase):
self.assertEqual(box.halfSide[0],0.5)
self.assertEqual(box.halfSide[1],1.0)
self.assertEqual(box.halfSide[2],1.5)
-
+
def test_sphere(self):
sphere = hppfcl.Sphere(1.)
self.assertIsInstance(sphere, hppfcl.Sphere)
self.assertIsInstance(sphere, hppfcl.ShapeBase)
self.assertIsInstance(sphere, hppfcl.CollisionGeometry)
self.assertEqual(sphere.getNodeType(), hppfcl.NODE_TYPE.GEOM_SPHERE)
- self.assertEqual(sphere.radius,1.)
+ self.assertEqual(sphere.radius, 1.)
sphere.radius = 2.
- self.assertEqual(sphere.radius,2.)
+ self.assertEqual(sphere.radius, 2.)
+ com = sphere.computeCOM()
+ self.assertApprox(com, np.zeros(3))
+ V = sphere.computeVolume()
+ V_ref = 4. * np.pi/3 * sphere.radius**3
+ self.assertApprox(V, V_ref)
+ I0 = sphere.computeMomentofInertia()
+ I0_ref = 0.4 * V_ref * sphere.radius * sphere.radius * np.identity(3)
+ self.assertApprox(I0, I0_ref)
+ Ic = sphere.computeMomentofInertiaRelatedToCOM()
+ self.assertApprox(Ic, I0_ref)
def test_cylinder(self):
cylinder = hppfcl.Cylinder(1.,2.)
@@ -60,6 +108,18 @@ class TestGeometricShapes(unittest.TestCase):
cylinder.halfLength = 4.
self.assertEqual(cylinder.radius,3.)
self.assertEqual(cylinder.halfLength,4.)
+ com = cylinder.computeCOM()
+ self.assertApprox(com, np.zeros(3))
+ V = cylinder.computeVolume()
+ V_ref = cylinder.radius * cylinder.radius * np.pi * 2. * cylinder.halfLength
+ self.assertApprox(V, V_ref)
+ I0 = cylinder.computeMomentofInertia()
+ Ix_ref = V_ref*(3 * cylinder.radius**2 + 4 * cylinder.halfLength**2)/12.
+ Iz_ref = V_ref * cylinder.radius**2 / 2.
+ I0_ref = np.diag([Ix_ref,Ix_ref,Iz_ref])
+ self.assertApprox(I0, I0_ref)
+ Ic = cylinder.computeMomentofInertiaRelatedToCOM()
+ self.assertApprox(Ic, I0_ref)
def test_cone(self):
cone = hppfcl.Cone(1.,2.)
@@ -73,6 +133,20 @@ class TestGeometricShapes(unittest.TestCase):
cone.halfLength = 4.
self.assertEqual(cone.radius,3.)
self.assertEqual(cone.halfLength,4.)
+ com = cone.computeCOM()
+ self.assertApprox(com, np.matrix([0.,0.,-0.5 * cone.halfLength]).T)
+ V = cone.computeVolume()
+ V_ref = np.pi * cone.radius**2 * 2. * cone.halfLength / 3.
+ self.assertApprox(V, V_ref)
+ I0 = cone.computeMomentofInertia()
+ Ix_ref = V_ref * (3./20. * cone.radius**2 + 0.4 * cone.halfLength**2)
+ Iz_ref = 0.3 * V_ref * cone.radius**2
+ I0_ref = np.diag([Ix_ref,Ix_ref,Iz_ref])
+ self.assertApprox(I0, I0_ref)
+ Ic = cone.computeMomentofInertiaRelatedToCOM()
+ Icx_ref = V_ref * 3./20. * (cone.radius**2 + cone.halfLength**2)
+ Ic_ref = np.diag([Icx_ref,Icx_ref,Iz_ref])
+ self.assertApprox(Ic, Ic_ref)
if __name__ == '__main__':
unittest.main()
--
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