From 5cc17c344e97d5b926536bc8cf3f03dc8c004bdc Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Thu, 15 Mar 2018 14:30:28 +0100
Subject: [PATCH] [test] test both flatground with varying constraints
---
tests/test-transition.cc | 160 ++++++++++++++++++++++++++++++++++++++-
1 file changed, 159 insertions(+), 1 deletion(-)
diff --git a/tests/test-transition.cc b/tests/test-transition.cc
index 2660d66..e5456fe 100644
--- a/tests/test-transition.cc
+++ b/tests/test-transition.cc
@@ -55,7 +55,7 @@ bool check_constraints(const bezier_com_traj::ContactData& contactPhase, Vector3
}
-void check_transition(bezier_com_traj::ProblemData& pData, VectorX Ts){
+void check_transition(bezier_com_traj::ProblemData& pData, VectorX Ts,bool shouldFail=false){
BOOST_CHECK_EQUAL(pData.contacts_.size(),Ts.size());
double t_total = 0;
@@ -67,6 +67,11 @@ void check_transition(bezier_com_traj::ProblemData& pData, VectorX Ts){
// check if transition is feasible (should be)
bezier_com_traj::ResultDataCOMTraj res = bezier_com_traj::solveOnestep(pData,Ts,init,pointsPerPhase);
+ if(shouldFail){
+ BOOST_CHECK(!res.success_);
+ return;
+ }
+
BOOST_CHECK(res.success_);
if(res.success_){
@@ -225,6 +230,159 @@ BOOST_AUTO_TEST_CASE(transition){
}
+BOOST_AUTO_TEST_CASE(transition_noDc1){
+ bezier_com_traj::ProblemData pData = gen_problem_data_flat();
+ pData.constraints_.dc1_ = false;
+ VectorX Ts(3);
+ Ts<<0.6,0.6,0.6;
+ check_transition(pData,Ts);
+}
+
+BOOST_AUTO_TEST_CASE(transition_ddc0){
+ bezier_com_traj::ProblemData pData = gen_problem_data_flat();
+ pData.constraints_.ddc0_ = true;
+ VectorX Ts(3);
+ Ts<<0.6,0.6,0.6;
+ check_transition(pData,Ts);
+}
+
+BOOST_AUTO_TEST_CASE(transition_ddc0_ddc1){
+ bezier_com_traj::ProblemData pData = gen_problem_data_flat();
+ pData.constraints_.ddc0_ = true;
+ pData.constraints_.ddc1_ = true;
+ VectorX Ts(3);
+ Ts<<0.6,0.6,0.6;
+ check_transition(pData,Ts);
+}
+
+BOOST_AUTO_TEST_CASE(transition_noAcc){
+ bezier_com_traj::ProblemData pData = gen_problem_data_flat();
+ pData.constraints_.constraintAcceleration_ = false;
+ VectorX Ts(3);
+ Ts<<0.6,0.6,0.6;
+ check_transition(pData,Ts);
+}
+
+BOOST_AUTO_TEST_CASE(transition_noDc1_noAcc){
+ bezier_com_traj::ProblemData pData = gen_problem_data_flat();
+ pData.constraints_.dc1_ = false;
+ pData.constraints_.constraintAcceleration_ = false;
+ VectorX Ts(3);
+ Ts<<0.6,0.6,0.6;
+ check_transition(pData,Ts);
+}
+BOOST_AUTO_TEST_CASE(transition_ddc0_noAcc){
+ bezier_com_traj::ProblemData pData = gen_problem_data_flat();
+ pData.constraints_.ddc0_ = true;
+ pData.constraints_.constraintAcceleration_ = false;
+ VectorX Ts(3);
+ Ts<<0.6,0.6,0.6;
+ check_transition(pData,Ts);
+}
+
+BOOST_AUTO_TEST_CASE(transition_ddc0_ddc1_noAcc){
+ bezier_com_traj::ProblemData pData = gen_problem_data_flat();
+ pData.constraints_.ddc0_ = true;
+ pData.constraints_.ddc1_ = true;
+ pData.constraints_.constraintAcceleration_ = false;
+ VectorX Ts(3);
+ Ts<<0.6,0.6,0.6;
+ check_transition(pData,Ts);
+}
+
+
+BOOST_AUTO_TEST_CASE(transition_Acc1){
+ bezier_com_traj::ProblemData pData = gen_problem_data_flat();
+ pData.constraints_.maxAcceleration_=1.;
+ VectorX Ts(3);
+ Ts<<0.6,0.6,0.6;
+ check_transition(pData,Ts);
+}
+
+BOOST_AUTO_TEST_CASE(transition_noDc1_Acc1){
+ bezier_com_traj::ProblemData pData = gen_problem_data_flat();
+ pData.constraints_.dc1_ = false;
+ pData.constraints_.maxAcceleration_=1.;
+ VectorX Ts(3);
+ Ts<<0.6,0.6,0.6;
+ check_transition(pData,Ts);
+}
+BOOST_AUTO_TEST_CASE(transition_ddc0_Acc2){
+ bezier_com_traj::ProblemData pData = gen_problem_data_flat();
+ pData.constraints_.ddc0_ = true;
+ pData.constraints_.maxAcceleration_=2.;
+ VectorX Ts(3);
+ Ts<<0.6,0.6,0.6;
+ check_transition(pData,Ts);
+}
+
+BOOST_AUTO_TEST_CASE(transition_ddc0_ddc1_Acc2){
+ bezier_com_traj::ProblemData pData = gen_problem_data_flat();
+ pData.constraints_.ddc0_ = true;
+ pData.constraints_.ddc1_ = true;
+ pData.constraints_.maxAcceleration_=2.;
+ VectorX Ts(3);
+ Ts<<0.6,0.6,0.6;
+ check_transition(pData,Ts);
+}
+
+BOOST_AUTO_TEST_CASE(transition_ddc0_ddc1_Acc05){
+ bezier_com_traj::ProblemData pData = gen_problem_data_flat();
+ pData.constraints_.ddc0_ = true;
+ pData.constraints_.ddc1_ = true;
+ pData.constraints_.maxAcceleration_=0.5;
+ VectorX Ts(3);
+ Ts<<0.6,0.6,0.6;
+ check_transition(pData,Ts);
+}
+
+BOOST_AUTO_TEST_CASE(transition_Acc05){
+ bezier_com_traj::ProblemData pData = gen_problem_data_flat();
+ pData.constraints_.maxAcceleration_=0.5;
+ VectorX Ts(3);
+ Ts<<0.6,0.6,0.6;
+ check_transition(pData,Ts);
+}
+
+// constraints that should fails :
+
+BOOST_AUTO_TEST_CASE(transition_Acc02){
+ bezier_com_traj::ProblemData pData = gen_problem_data_flat();
+ pData.constraints_.maxAcceleration_=0.2;
+ VectorX Ts(3);
+ Ts<<0.6,0.6,0.6;
+ check_transition(pData,Ts,true);
+}
+
+BOOST_AUTO_TEST_CASE(transition_noDc1_Acc05){
+ bezier_com_traj::ProblemData pData = gen_problem_data_flat();
+ pData.constraints_.dc1_ = false;
+ pData.constraints_.maxAcceleration_=0.5;
+ VectorX Ts(3);
+ Ts<<0.6,0.6,0.6;
+ check_transition(pData,Ts,true);
+}
+
+
+BOOST_AUTO_TEST_CASE(transition_ddc0_Acc1){
+ bezier_com_traj::ProblemData pData = gen_problem_data_flat();
+ pData.constraints_.ddc0_ = true;
+ pData.constraints_.maxAcceleration_=1.;
+ VectorX Ts(3);
+ Ts<<0.6,0.6,0.6;
+ check_transition(pData,Ts,true);
+}
+
+BOOST_AUTO_TEST_CASE(transition_ddc0_ddc1_Acc02){
+ bezier_com_traj::ProblemData pData = gen_problem_data_flat();
+ pData.constraints_.ddc0_ = true;
+ pData.constraints_.ddc1_ = true;
+ pData.constraints_.maxAcceleration_=0.2;
+ VectorX Ts(3);
+ Ts<<0.6,0.6,0.6;
+ check_transition(pData,Ts,true);
+}
+
BOOST_AUTO_TEST_SUITE_END()
--
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