scenario.cpp 42.2 KB
Newer Older
Justin Carpentier's avatar
Justin Carpentier committed
1
2
// Copyright (c) 2015-2018, CNRS
// Authors: Justin Carpentier <jcarpent@laas.fr>
Guilhem Saurel's avatar
Guilhem Saurel committed
3

Justin Carpentier's avatar
Justin Carpentier committed
4
5
6
7
8
9
#include <iostream>

#define BOOST_TEST_MODULE StatsTests
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>

Pierre Fernbach's avatar
Pierre Fernbach committed
10
#include "multicontact-api/scenario/contact-model-planar.hpp"
Guilhem Saurel's avatar
Guilhem Saurel committed
11
#include "multicontact-api/scenario/contact-patch.hpp"
12
#include "multicontact-api/scenario/contact-phase.hpp"
13
#include "multicontact-api/scenario/contact-sequence.hpp"
Justin Carpentier's avatar
Justin Carpentier committed
14

15
#include <curves/fwd.h>
Pierre Fernbach's avatar
Pierre Fernbach committed
16
17
18
19
20
#include <curves/so3_linear.h>
#include <curves/se3_curve.h>
#include <curves/polynomial.h>
#include <curves/bezier_curve.h>
#include <curves/piecewise_curve.h>
21
22
#include <curves/exact_cubic.h>
#include <curves/cubic_hermite_spline.h>
Pierre Fernbach's avatar
Pierre Fernbach committed
23

24
25


26
typedef Eigen::Matrix<double, 1, 1> point1_t;
27
28
using curves::point3_t;
using curves::point6_t;
Pierre Fernbach's avatar
Pierre Fernbach committed
29
typedef Eigen::Matrix<double, 12, 1> point12_t;
30
31
32
33
34
35
using curves::pointX_t;
using curves::matrix3_t;
using curves::quaternion_t;
using curves::t_pointX_t;
using curves::curve_ptr_t;
using curves::curve_SE3_ptr_t;
Guilhem Saurel's avatar
Guilhem Saurel committed
36
using namespace multicontact_api::scenario;
37
typedef ContactSequence::ContactPhaseVector ContactPhaseVector;
Justin Carpentier's avatar
Justin Carpentier committed
38

Guilhem Saurel's avatar
Guilhem Saurel committed
39
40
template <typename Scalar>
struct ATpl {
41
  typedef pinocchio::SE3Tpl<Scalar> SE3;
Guilhem Saurel's avatar
Guilhem Saurel committed
42

Justin Carpentier's avatar
Justin Carpentier committed
43
  explicit ATpl() : data() {}
Guilhem Saurel's avatar
Guilhem Saurel committed
44
  explicit ATpl(const ATpl& other) : data(other.data){};
Guilhem Saurel's avatar
Guilhem Saurel committed
45

Guilhem Saurel's avatar
Guilhem Saurel committed
46
  bool operator==(const ATpl& other) { return data == other.data; }
Guilhem Saurel's avatar
Guilhem Saurel committed
47

Guilhem Saurel's avatar
Guilhem Saurel committed
48
 protected:
Justin Carpentier's avatar
Justin Carpentier committed
49
50
51
52
  SE3 data;
};

typedef ATpl<double> Ad;
Pierre Fernbach's avatar
Pierre Fernbach committed
53
54
typedef pinocchio::SE3Tpl<double> SE3;

Pierre Fernbach's avatar
Pierre Fernbach committed
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
curve_ptr_t buildPiecewisePolynomialC2(){
  point3_t p0(0., 0., 0.);
  point3_t p1(1., 2., 3.);
  point3_t p2(4., 4., 4.);
  point3_t p3(10., 10., 10.);
  point3_t d0(1., 1., 1.);
  point3_t d1(2., 2., 2.);
  point3_t d2(3., 3., 3.);
  point3_t d3(5., 5., 5.);
  point3_t dd0(1.5, 1.5, 1.5);
  point3_t dd1(2.5, 2.5, 2.5);
  point3_t dd2(3.5, 3.5, 3.5);
  point3_t dd3(5.5, 5.5, 5.5);
  double t0 = 1.0;
  double t1 = 1.5;
  double t2 = 3.0;
  double t3 = 10.0;
  t_pointX_t points;
  points.push_back(p0);
  points.push_back(p1);
  points.push_back(p2);
  points.push_back(p3);
  t_pointX_t points_derivative;
  points_derivative.push_back(d0);
  points_derivative.push_back(d1);
  points_derivative.push_back(d2);
  points_derivative.push_back(d3);
  t_pointX_t points_second_derivative;
  points_second_derivative.push_back(dd0);
  points_second_derivative.push_back(dd1);
  points_second_derivative.push_back(dd2);
  points_second_derivative.push_back(dd3);
  std::vector<double> time_points;
  time_points.push_back(t0);
  time_points.push_back(t1);
  time_points.push_back(t2);
  time_points.push_back(t3);

93
  curves::piecewise_t ppc_C2 = curves::piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(
Pierre Fernbach's avatar
Pierre Fernbach committed
94
          points, points_derivative, points_second_derivative, time_points);
95
  curve_ptr_t res(new curves::piecewise_t(ppc_C2));
Pierre Fernbach's avatar
Pierre Fernbach committed
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
  return res;
}


template <typename Point>
curve_ptr_t buildRandomPolynomial(){
  pointX_t a = Point::Random();
  pointX_t b = Point::Random();
  pointX_t c = Point::Random();
  pointX_t d = Point::Random();
  const double t1 = Eigen::internal::random<double>(0.,10.);
  const double t2 = Eigen::internal::random<double>(0.,10.);
  const double min = std::min(t1,t2);
  const double max = std::max(t1,t2);
  t_pointX_t vec;
  vec.push_back(a);
  vec.push_back(b);
  vec.push_back(c);
  vec.push_back(d);
115
  curve_ptr_t res (new curves::polynomial_t(vec.begin(), vec.end(), min, max));
Pierre Fernbach's avatar
Pierre Fernbach committed
116
117
118
119
120
121
122
123
124
125
126
  return  res;
}

curve_ptr_t buildRandomPolynomial3D(){
  return buildRandomPolynomial<point3_t>();
}

curve_ptr_t buildRandomPolynomial12D(){
  return buildRandomPolynomial<point12_t>();
}

127
128
129
130
131
curve_ptr_t buildRandomPolynomial1D(){
  return buildRandomPolynomial<point1_t>();
}


Pierre Fernbach's avatar
Pierre Fernbach committed
132
133


134
curve_SE3_ptr_t buildPiecewiseSE3(){
Pierre Fernbach's avatar
Pierre Fernbach committed
135
136
137
138
139
140
141
  const double min = 0.5;
  const double mid = 1.2;
  const double max = 2.;
  quaternion_t q0(1, 0, 0, 0);
  quaternion_t q1(0., 1., 0, 0);
  pointX_t p0 = point3_t(1., 1.5, -2.);
  pointX_t p1 = point3_t(3., 0, 1.);
142
  curve_SE3_ptr_t cLinear(new curves::SE3Curve_t(p0, p1, q0, q1, min, mid));
Pierre Fernbach's avatar
Pierre Fernbach committed
143
144
145
146
147
148
149
150
151
  point3_t a(1, 2, 3);
  point3_t b(2, 3, 4);
  point3_t c(3, 4, 5);
  point3_t d(3, 6, 7);
  std::vector<point3_t> params;
  params.push_back(a);
  params.push_back(b);
  params.push_back(c);
  params.push_back(d);
152
153
  boost::shared_ptr<curves::bezier_t> translation_bezier(new curves::bezier_t(params.begin(), params.end(), mid, max));
  curve_SE3_ptr_t cBezier(new curves::SE3Curve_t(translation_bezier, q0.toRotationMatrix(), q1.toRotationMatrix()));
Pierre Fernbach's avatar
Pierre Fernbach committed
154

155
156
157
  curves::piecewise_SE3_t piecewiseSE3(cLinear);
  piecewiseSE3.add_curve_ptr(cBezier);
  curve_SE3_ptr_t res = boost::make_shared<curves::piecewise_SE3_t>(piecewiseSE3);
Pierre Fernbach's avatar
Pierre Fernbach committed
158
159
160
161
162
163
164
165
166
167
168
169
170
  return res;

}

quaternion_t randomQuaternion(){ // already included in newest eigen release
  const double u1 = Eigen::internal::random<double>(0, 1),
      u2 = Eigen::internal::random<double>(0, 2*EIGEN_PI),
      u3 = Eigen::internal::random<double>(0, 2*EIGEN_PI);
  const double a = sqrt(1 - u1),
      b = sqrt(u1);
  return quaternion_t(a * sin(u2), a * cos(u2), b * sin(u3), b * cos(u3)).normalized();
}

171
curve_SE3_ptr_t buildRandomSE3LinearTraj(const double min, const double max){
Pierre Fernbach's avatar
Pierre Fernbach committed
172
173
  quaternion_t q0 = randomQuaternion();
  quaternion_t q1 = randomQuaternion();
174
175
  q0.normalize();
  q1.normalize();
Pierre Fernbach's avatar
Pierre Fernbach committed
176
177
178
  pointX_t p0 = point3_t::Random();
  pointX_t p1 = point3_t::Random();

179
  curve_SE3_ptr_t res(new curves::SE3Curve_t(p0, p1, q0, q1, min, max));
Pierre Fernbach's avatar
Pierre Fernbach committed
180
181
182
  return res;
}

183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
void addRandomPointsValues(ContactPhase& cp){
  point3_t c_init= point3_t::Random();
  point3_t dc_init= point3_t::Random();
  pointX_t ddc_init= point3_t::Random(); // test with point X for automatic conversion
  pointX_t L_init= point3_t::Random();
  point3_t dL_init= point3_t::Random();
  pointX_t q_init= point12_t::Random();
  pointX_t c_final= point3_t::Random();
  pointX_t dc_final= point3_t::Random();
  point3_t ddc_final= point3_t::Random();
  pointX_t L_final= point3_t::Random();
  point3_t dL_final= point3_t::Random();
  pointX_t q_final= point12_t::Random();
  cp.m_c_init = c_init;
  cp.m_dc_init = dc_init;
  cp.m_ddc_init = ddc_init;
  cp.m_L_init = L_init;
  cp.m_dL_init = dL_init;
  cp.m_q_init = q_init;
  cp.m_c_final = c_final;
  cp.m_dc_final = dc_final;
  cp.m_ddc_final = ddc_final;
  cp.m_L_final = L_final;
  cp.m_dL_final = dL_final;
  cp.m_q_final = q_final;
}

void addRandomCurvesValues(ContactPhase& cp){
  curve_ptr_t q = buildRandomPolynomial12D();
  curve_ptr_t dq = buildRandomPolynomial12D();
  curve_ptr_t ddq = buildRandomPolynomial12D();
  curve_ptr_t tau = buildRandomPolynomial12D();
  curve_ptr_t c = buildRandomPolynomial3D();
  curve_ptr_t dc = buildRandomPolynomial3D();
  curve_ptr_t ddc = buildRandomPolynomial3D();
  curve_ptr_t L = buildRandomPolynomial3D();
  curve_ptr_t dL = buildRandomPolynomial3D();
  curve_ptr_t wrench = buildRandomPolynomial3D();
  curve_ptr_t zmp = buildRandomPolynomial3D();
  curve_SE3_ptr_t root = buildRandomSE3LinearTraj(1,5.5);
  cp.m_q = q;
  cp.m_dq = dq;
  cp.m_ddq = ddq;
  cp.m_tau = tau;
  cp.m_c = c;
  cp.m_dc = dc;
  cp.m_ddc = ddc;
  cp.m_L = L;
  cp.m_dL = dL;
  cp.m_wrench = wrench;
  cp.m_zmp = zmp;
  cp.m_root = root;
}

void addRandomContacts(ContactPhase& cp){
  cp.addContact("right_hand",ContactPatch(SE3::Identity().setRandom()));
  cp.addContact("left_foot",ContactPatch(SE3::Identity().setRandom()));
}

void addRandomForcesTrajs(ContactPhase& cp){
  cp.addContactForceTrajectory("right_hand",buildRandomPolynomial12D());
  cp.addContactForceTrajectory("left_foot",buildRandomPolynomial12D());
  cp.addContactNormalForceTrajectory("right_hand",buildRandomPolynomial1D());
  cp.addContactNormalForceTrajectory("left_foot",buildRandomPolynomial1D());
}

void addRandomEffectorTrajectories(ContactPhase& cp){
  cp.addEffectorTrajectory("left_hand",buildRandomSE3LinearTraj(0,2));
  cp.addEffectorTrajectory("right_foot",buildRandomSE3LinearTraj(0,2));
}

ContactPhase buildRandomContactPhase(const double min = 0. , const double max = 2.){
    ContactPhase cp(min,max);
    addRandomPointsValues(cp);
    addRandomCurvesValues(cp);
    addRandomContacts(cp);
    addRandomForcesTrajs(cp);
    addRandomEffectorTrajectories(cp);
    return cp;
}
Pierre Fernbach's avatar
Pierre Fernbach committed
263

264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
void explicitContactPhaseAssertEqual(ContactPhase& cp1, ContactPhase& cp2){
  BOOST_CHECK(cp1.m_c_init == cp2.m_c_init);
  BOOST_CHECK(cp1.m_dc_init == cp2.m_dc_init);
  BOOST_CHECK(cp1.m_ddc_init == cp2.m_ddc_init);
  BOOST_CHECK(cp1.m_L_init == cp2.m_L_init);
  BOOST_CHECK(cp1.m_dL_init == cp2.m_dL_init);
  BOOST_CHECK(cp1.m_q_init == cp2.m_q_init);
  BOOST_CHECK(cp1.m_c_final == cp2.m_c_final);
  BOOST_CHECK(cp1.m_dc_final == cp2.m_dc_final);
  BOOST_CHECK(cp1.m_ddc_final == cp2.m_ddc_final);
  BOOST_CHECK(cp1.m_L_final == cp2.m_L_final);
  BOOST_CHECK(cp1.m_dL_final == cp2.m_dL_final);
  BOOST_CHECK(cp1.m_q_final == cp2.m_q_final);
  BOOST_CHECK(cp1.m_c_init == cp2.m_c_init);
  BOOST_CHECK(cp1.m_dc_init == cp2.m_dc_init);
  BOOST_CHECK(cp1.m_ddc_init == cp2.m_ddc_init);
  BOOST_CHECK(cp1.m_L_init == cp2.m_L_init);
  BOOST_CHECK(cp1.m_dL_init == cp2.m_dL_init);
  BOOST_CHECK(cp1.m_q_init == cp2.m_q_init);
  BOOST_CHECK(cp1.m_c_final == cp2.m_c_final);
  BOOST_CHECK(cp1.m_dc_final == cp2.m_dc_final);
  BOOST_CHECK(cp1.m_ddc_final == cp2.m_ddc_final);
  BOOST_CHECK(cp1.m_L_final == cp2.m_L_final);
  BOOST_CHECK(cp1.m_dL_final == cp2.m_dL_final);
  BOOST_CHECK(cp1.m_q_final == cp2.m_q_final);
  BOOST_CHECK((*cp1.m_q)(cp2.m_q->min())==(*cp2.m_q)(cp2.m_q->min()));
  BOOST_CHECK((*cp1.m_dq)(cp2.m_dq->min())==(*cp2.m_dq)(cp2.m_dq->min()));
  BOOST_CHECK((*cp1.m_ddq)(cp2.m_ddq->min())==(*cp2.m_ddq)(cp2.m_ddq->min()));
  BOOST_CHECK((*cp1.m_tau)(cp2.m_tau->min())==(*cp2.m_tau)(cp2.m_tau->min()));
  BOOST_CHECK((*cp1.m_c)(cp2.m_c->min())==(*cp2.m_c)(cp2.m_c->min()));
  BOOST_CHECK((*cp1.m_dc)(cp2.m_dc->min())==(*cp2.m_dc)(cp2.m_dc->min()));
  BOOST_CHECK((*cp1.m_ddc)(cp2.m_ddc->min())==(*cp2.m_ddc)(cp2.m_ddc->min()));
  BOOST_CHECK((*cp1.m_L)(cp2.m_L->min())==(*cp2.m_L)(cp2.m_L->min()));
  BOOST_CHECK((*cp1.m_dL)(cp2.m_dL->min())==(*cp2.m_dL)(cp2.m_dL->min()));
  BOOST_CHECK((*cp1.m_wrench)(cp2.m_wrench->min())==(*cp2.m_wrench)(cp2.m_wrench->min()));
  BOOST_CHECK((*cp1.m_zmp)(cp2.m_zmp->min())==(*cp2.m_zmp)(cp2.m_zmp->min()));
  BOOST_CHECK((*cp1.m_root)(cp2.m_root->min()).isApprox((*cp2.m_root)(cp2.m_root->min())));
301
302
303
304
305
306
307
308
309
310
311
312
  BOOST_CHECK(cp1.m_q->isApprox(cp2.m_q.get()));
  BOOST_CHECK(cp1.m_dq->isApprox(cp2.m_dq.get()));
  BOOST_CHECK(cp1.m_ddq->isApprox(cp2.m_ddq.get()));
  BOOST_CHECK(cp1.m_tau->isApprox(cp2.m_tau.get()));
  BOOST_CHECK(cp1.m_c->isApprox(cp2.m_c.get()));
  BOOST_CHECK(cp1.m_dc->isApprox(cp2.m_dc.get()));
  BOOST_CHECK(cp1.m_ddc->isApprox(cp2.m_ddc.get()));
  BOOST_CHECK(cp1.m_L->isApprox(cp2.m_L.get()));
  BOOST_CHECK(cp1.m_dL->isApprox(cp2.m_dL.get()));
  BOOST_CHECK(cp1.m_wrench->isApprox(cp2.m_wrench.get()));
  BOOST_CHECK(cp1.m_zmp->isApprox(cp2.m_zmp.get()));
  BOOST_CHECK(cp1.m_root->isApprox(cp2.m_root.get()));
313
314
315
316
317
  BOOST_CHECK(cp1.contactForces() == cp2.contactForces());
  BOOST_CHECK(cp1.contactNormalForces() == cp2.contactNormalForces());
  BOOST_CHECK(cp1.effectorTrajectories() == cp2.effectorTrajectories());
  BOOST_CHECK(cp1.effectorsInContact() == cp2.effectorsInContact());
  BOOST_CHECK(cp1.contactPatches() == cp2.contactPatches());
318
319
  const ContactPhase::t_strings eeNames = cp2.effectorsInContact();
  for(ContactPhase::t_strings::const_iterator ee = eeNames.begin() ; ee != eeNames.end() ; ++ee){
320
    BOOST_CHECK(cp2.isEffectorInContact(*ee));
321
    BOOST_CHECK(cp1.contactPatch(*ee) == cp2.contactPatch(*ee));
322
323
    if(cp1.contactForces().count(*ee)){
      BOOST_CHECK(cp2.contactForces().count(*ee));
324
      BOOST_CHECK(cp1.contactForces(*ee)->isApprox(cp2.contactForces(*ee).get()));
325
326
327
328
329
      BOOST_CHECK((*cp1.contactForces(*ee))(cp1.contactForces(*ee)->min()) == (*cp2.contactForces(*ee))(cp2.contactForces(*ee)->min()));
      BOOST_CHECK((*cp1.contactForces(*ee))(cp1.contactForces(*ee)->max()) == (*cp2.contactForces(*ee))(cp2.contactForces(*ee)->max()));
    }
    if(cp1.contactNormalForces().count(*ee)){
      BOOST_CHECK(cp2.contactNormalForces().count(*ee));
330
      BOOST_CHECK(cp1.contactNormalForces(*ee)->isApprox(cp2.contactNormalForces(*ee).get()));
331
332
333
334
335
336
337
338
      BOOST_CHECK((*cp1.contactNormalForces(*ee))(cp1.contactNormalForces(*ee)->min()) == (*cp2.contactNormalForces(*ee))(cp2.contactNormalForces(*ee)->min()));
      BOOST_CHECK((*cp1.contactNormalForces(*ee))(cp1.contactNormalForces(*ee)->max()) == (*cp2.contactNormalForces(*ee))(cp2.contactNormalForces(*ee)->max()));
    }
  }
  const ContactPhase::CurveSE3Map trajMap = cp2.effectorTrajectories();
  for (ContactPhase::CurveSE3Map::const_iterator mit = trajMap.begin() ; mit != trajMap.end(); ++mit)
  {
    BOOST_CHECK(cp2.effectorTrajectories().count(mit->first));
339
    BOOST_CHECK(cp1.effectorTrajectories(mit->first)->isApprox(cp2.effectorTrajectories(mit->first).get()));
340
341
    BOOST_CHECK((*cp1.effectorTrajectories(mit->first))(cp1.effectorTrajectories(mit->first)->min()).isApprox((*cp2.effectorTrajectories(mit->first))(cp2.effectorTrajectories(mit->first)->min())));
    BOOST_CHECK((*cp1.effectorTrajectories(mit->first))(cp1.effectorTrajectories(mit->first)->max()).isApprox((*cp2.effectorTrajectories(mit->first))(cp2.effectorTrajectories(mit->first)->max())));
342
343
344
  }
}

Justin Carpentier's avatar
Justin Carpentier committed
345
346
347

BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)

Guilhem Saurel's avatar
Guilhem Saurel committed
348
BOOST_AUTO_TEST_CASE(contact_model) {
Justin Carpentier's avatar
Justin Carpentier committed
349
350
  const double mu = 0.3;
  const double ZMP_radius = 0.01;
Guilhem Saurel's avatar
Guilhem Saurel committed
351

Guilhem Saurel's avatar
Guilhem Saurel committed
352
  ContactModelPlanar mp1(mu, ZMP_radius);
Justin Carpentier's avatar
Justin Carpentier committed
353
  ContactModelPlanar mp2(mp1);
354
355
  BOOST_CHECK(mp1.m_mu == mu);
  BOOST_CHECK(mp1.m_ZMP_radius == ZMP_radius);
Guilhem Saurel's avatar
Guilhem Saurel committed
356

Justin Carpentier's avatar
Justin Carpentier committed
357
  BOOST_CHECK(mp1 == mp2);
358
359
360
361
  mp1.m_mu = 0.5;
  BOOST_CHECK(mp1 != mp2);

  //TODO : check serialization
Justin Carpentier's avatar
Justin Carpentier committed
362
363
}

Guilhem Saurel's avatar
Guilhem Saurel committed
364
BOOST_AUTO_TEST_CASE(contact_patch) {
Pierre Fernbach's avatar
Pierre Fernbach committed
365
  // check default constructor :
Justin Carpentier's avatar
Justin Carpentier committed
366
  ContactPatch cp;
Pierre Fernbach's avatar
Pierre Fernbach committed
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
  BOOST_CHECK(cp.placement() == SE3::Identity());
  BOOST_CHECK(cp.friction() == -1.);
  SE3 p = SE3::Identity();
  p.setRandom();
  cp.placement() = p;
  BOOST_CHECK(cp.placement() == p);
  cp.friction() = 0.7;
  BOOST_CHECK(cp.friction() == 0.7);

  // constructor with placement :
  p.setRandom();
  ContactPatch cp1(p);
  BOOST_CHECK(cp1.placement() == p);
  BOOST_CHECK(cp1.friction() == -1.);

  // constructor with placement and friction
  p.setRandom();
  ContactPatch cp2(p,0.9);
  BOOST_CHECK(cp2.placement() == p);
  BOOST_CHECK(cp2.friction() == 0.9);

  // check comparison operator
  BOOST_CHECK(cp1 != cp2);
  ContactPatch cp3(p,0.9);
  BOOST_CHECK(cp3 == cp2);
  cp2.friction() = 0.1;
  BOOST_CHECK(cp3 != cp2);

  // copy constructor
  ContactPatch cp4(cp3);
  BOOST_CHECK(cp4 == cp3);
  BOOST_CHECK(cp4.placement() == p);
  BOOST_CHECK(cp4.friction() == 0.9);
  cp4.placement() = SE3::Identity();
  BOOST_CHECK(cp3 != cp4);

403
  // operator =
Pierre Fernbach's avatar
Pierre Fernbach committed
404
405
406
407
408
  ContactPatch cp5 = cp4;
  BOOST_CHECK(cp4 == cp5);
  cp5.friction() = 2.;
  BOOST_CHECK(cp4 != cp5);

Pierre Fernbach's avatar
Pierre Fernbach committed
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
  // serialization :
  std::string fileName("fileTest");
  cp3.saveAsText(fileName);
  ContactPatch cp_from_text;
  cp_from_text.loadFromText(fileName);
  BOOST_CHECK(cp3 == cp_from_text);

  cp3.saveAsXML(fileName,"ContactPatch");
  ContactPatch cp_from_xml;
  cp_from_xml.loadFromXML(fileName,"ContactPatch");
  BOOST_CHECK(cp3 == cp_from_xml);

  cp3.saveAsBinary(fileName);
  ContactPatch cp_from_bin;
  cp_from_bin.loadFromBinary(fileName);
  BOOST_CHECK(cp3 == cp_from_bin);
Justin Carpentier's avatar
Justin Carpentier committed
425
426
}

427
428
BOOST_AUTO_TEST_CASE(contact_phase)
{
Pierre Fernbach's avatar
Pierre Fernbach committed
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
  // default constructor
  ContactPhase cp1;
  // test timings setter/getter
  BOOST_CHECK(cp1.timeInitial() == -1);
  BOOST_CHECK(cp1.timeFinal() == -1);
  BOOST_CHECK(cp1.duration() == 0);
  //cp1.timeInitial() = 2; // should not compile : only const return for times
  //cp1.timeInitial() = 2; // should not compile : only const return for times
  cp1.timeInitial(0.5);
  cp1.timeFinal(2.);
  BOOST_CHECK(cp1.timeInitial() == 0.5);
  BOOST_CHECK(cp1.timeFinal() == 2.);
  BOOST_CHECK(cp1.duration() == 1.5);
  cp1.duration(3.);
  BOOST_CHECK(cp1.timeInitial() == 0.5);
  BOOST_CHECK(cp1.timeFinal() == 3.5);
  BOOST_CHECK(cp1.duration() == 3.);
446
447
  BOOST_CHECK(cp1.numContacts() == 0);

Pierre Fernbach's avatar
Pierre Fernbach committed
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
  // check exeptions related to wrong timing 
  BOOST_CHECK_THROW(cp1.timeFinal(0.1),std::invalid_argument);
  BOOST_CHECK_THROW(cp1.duration(-2.),std::invalid_argument);
  // constructor with timings, should throw : 
  BOOST_CHECK_THROW(ContactPhase(0.9,0.1),std::invalid_argument);
  BOOST_CHECK_THROW(ContactPhase(0.,-1),std::invalid_argument);

  // Constructor with timings : 
  ContactPhase cp2(0.5,2.);
  BOOST_CHECK(cp2.timeInitial() == 0.5);
  BOOST_CHECK(cp2.timeFinal() == 2.);
  BOOST_CHECK(cp2.duration() == 1.5);

  // Check contacts creation / removal
  ContactPatch patchL(SE3::Identity().setRandom());
  bool newContact =  cp2.addContact("left_leg",patchL);
  BOOST_CHECK(newContact);
  BOOST_CHECK(cp2.isEffectorInContact("left_leg"));  BOOST_CHECK(!cp2.isEffectorInContact("other"));
  BOOST_CHECK(cp2.contactPatch("left_leg") == patchL);
  BOOST_CHECK(cp2.contactPatches()["left_leg"] == patchL);
468
  BOOST_CHECK(cp2.numContacts() == 1);
Pierre Fernbach's avatar
Pierre Fernbach committed
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
  BOOST_CHECK_THROW(cp2.contactPatch("other"),std::invalid_argument);

  ContactPatch patchR(SE3::Identity().setRandom());
  newContact =  cp2.addContact("right_leg",patchR);
  BOOST_CHECK(newContact);
  BOOST_CHECK(cp2.isEffectorInContact("left_leg"));
  BOOST_CHECK(cp2.isEffectorInContact("right_leg"));
  BOOST_CHECK(cp2.contactPatch("left_leg") == patchL);
  BOOST_CHECK(cp2.contactPatch("right_leg") == patchR);
  BOOST_CHECK(cp2.contactPatches()["left_leg"] == patchL);
  BOOST_CHECK(cp2.contactPatches()["right_leg"] == patchR);

  cp2.contactPatches().insert(std::pair<std::string,ContactPatch>("other",patchR)); // Why does it compile ? there is only const getter
  BOOST_CHECK(cp2.contactPatches().count("other") == 0); // previous line should have no effect, only const getter
  BOOST_CHECK(!cp2.isEffectorInContact("other"));
  ContactPatch patchR2(SE3::Identity().setRandom(),1.5);
//  cp2.contactPatches

  newContact = cp2.addContact("left_leg",ContactPatch(SE3::Identity().setRandom(),0.5));
  BOOST_CHECK(!newContact);
  BOOST_CHECK(cp2.isEffectorInContact("left_leg"));
  BOOST_CHECK(cp2.isEffectorInContact("right_leg"));
  BOOST_CHECK(cp2.contactPatch("left_leg") != patchL);
492
  BOOST_CHECK(cp2.numContacts() == 2);
Pierre Fernbach's avatar
Pierre Fernbach committed
493
494
495
496
497

  bool exist = cp2.removeContact("right_leg");
  BOOST_CHECK(exist);
  BOOST_CHECK(cp2.isEffectorInContact("left_leg"));
  BOOST_CHECK(!cp2.isEffectorInContact("right_leg"));
498
  BOOST_CHECK(cp2.numContacts() == 1);
Pierre Fernbach's avatar
Pierre Fernbach committed
499
500
501
502
503
504
505
506
507
508
  exist = cp2.removeContact("other");
  BOOST_CHECK(!exist);
  exist = cp2.removeContact("right_leg");
  BOOST_CHECK(!exist);

  // check adding forces trajectory :
  pointX_t f0 = point12_t::Random();
  pointX_t f1 = point12_t::Random();
  const double min = 0.5;
  const double max = 2.;
509
  curve_ptr_t force12d(new curves::polynomial_t(f0, f1, min, max));
Pierre Fernbach's avatar
Pierre Fernbach committed
510
511
512
513
514
515
516
517
518
519
520
521
  bool newTraj = cp2.addContactForceTrajectory("left_leg",force12d);
  BOOST_CHECK(newTraj);
  newTraj = cp2.addContactForceTrajectory("left_leg",force12d);
  BOOST_CHECK(!newTraj);
  BOOST_CHECK((*cp2.contactForces()["left_leg"])(min) == f0);
  BOOST_CHECK((*cp2.contactForces()["left_leg"])(max) == (*force12d)(max));
  BOOST_CHECK((*cp2.contactForces()["left_leg"])(1.2) == (*force12d)(1.2));
  BOOST_CHECK((*cp2.contactForces("left_leg"))(min) == f0);
  BOOST_CHECK((*cp2.contactForces("left_leg"))(max) == (*force12d)(max));
  BOOST_CHECK((*cp2.contactForces("left_leg"))(1.2) == (*force12d)(1.2));
  pointX_t f0_1 = point12_t::Random();
  pointX_t f1_1 = point12_t::Random();
522
  curve_ptr_t force12d_1(new curves::polynomial_t(f0_1, f1_1, min, max));
Pierre Fernbach's avatar
Pierre Fernbach committed
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
  cp2.contactForces().insert(std::pair<std::string,curve_ptr_t>("right_leg",force12d_1)); // should not have any effect only const getter
  BOOST_CHECK(cp2.contactForces().count("right_leg") == 0);
  cp2.contactForces().erase("left_leg"); // should not have any effect
  BOOST_CHECK((*cp2.contactForces("left_leg"))(min) == f0);
  BOOST_CHECK_THROW(cp2.addContactForceTrajectory("right_leg",force12d),std::invalid_argument); // right leg is not in contact, cannot add force
  BOOST_CHECK_THROW(cp2.contactForces("right_leg"),std::invalid_argument);

  // check with piecewise curve :
  curve_ptr_t force_C2 = buildPiecewisePolynomialC2();
  cp2.addContactForceTrajectory("left_leg",force_C2);
  BOOST_CHECK((*cp2.contactForces("left_leg"))(1.) == (*force_C2)(1.));
  BOOST_CHECK((*cp2.contactForces("left_leg"))(10.) == (*force_C2)(10.));
  BOOST_CHECK((*cp2.contactForces("left_leg"))(5.7) == (*force_C2)(5.7));


  pointX_t nf0(1);
  nf0 << 56.3;
  pointX_t nf1(1);
  nf1 << 5893.2;
542
  curve_ptr_t force1d(new curves::polynomial_t(nf0, nf1, min, max));
Pierre Fernbach's avatar
Pierre Fernbach committed
543
544
545
546
547
548
549
550
551
552
553
554
555
556
  newTraj = cp2.addContactNormalForceTrajectory("left_leg",force1d);
  BOOST_CHECK(newTraj);
  newTraj = cp2.addContactNormalForceTrajectory("left_leg",force1d);
  BOOST_CHECK(!newTraj);
  BOOST_CHECK((*cp2.contactNormalForces()["left_leg"])(min) == nf0);
  BOOST_CHECK((*cp2.contactNormalForces()["left_leg"])(max) == (*force1d)(max));
  BOOST_CHECK((*cp2.contactNormalForces()["left_leg"])(1.2) == (*force1d)(1.2));
  BOOST_CHECK((*cp2.contactNormalForces("left_leg"))(min) == nf0);
  BOOST_CHECK((*cp2.contactNormalForces("left_leg"))(max) == (*force1d)(max));
  BOOST_CHECK((*cp2.contactNormalForces("left_leg"))(1.2) == (*force1d)(1.2));
  pointX_t nf0_1(1);
  nf0_1 << 147.2;
  pointX_t nf1_1(1);
  nf1_1 << 562;
557
  curve_ptr_t force1d_1(new curves::polynomial_t(nf0_1, nf1_1, min, max));
Pierre Fernbach's avatar
Pierre Fernbach committed
558
559
560
561
562
563
  cp2.contactNormalForces().insert(std::pair<std::string,curve_ptr_t>("right_leg",force1d_1)); // should not have any effect only const getter
  BOOST_CHECK(cp2.contactNormalForces().count("right_leg") == 0);
  cp2.contactNormalForces().erase("left_leg"); // should not have any effect
  BOOST_CHECK((*cp2.contactNormalForces("left_leg"))(min) == nf0);
  BOOST_CHECK_THROW(cp2.contactNormalForces("right_leg"),std::invalid_argument);
  BOOST_CHECK_THROW(cp2.addContactNormalForceTrajectory("right_leg",force12d),std::invalid_argument); // right leg is not in contact, cannot add force
564
565
  BOOST_CHECK_THROW(cp2.addContactNormalForceTrajectory("left_leg",force12d),std::invalid_argument); // should be of dimension 1

Pierre Fernbach's avatar
Pierre Fernbach committed
566
567

  // Check effector trajectory : 
568
  curve_SE3_ptr_t effR = buildPiecewiseSE3();
Pierre Fernbach's avatar
Pierre Fernbach committed
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
  newTraj = cp2.addEffectorTrajectory("right_leg",effR);
  BOOST_CHECK(newTraj);
  newTraj = cp2.addEffectorTrajectory("right_leg",effR);
  BOOST_CHECK(!newTraj);
  BOOST_CHECK((*cp2.effectorTrajectories()["right_leg"])(min).isApprox((*effR)(min)));
  BOOST_CHECK((*cp2.effectorTrajectories()["right_leg"])(max).isApprox((*effR)(max)));
  BOOST_CHECK((*cp2.effectorTrajectories()["right_leg"])(1.2).isApprox((*effR)(1.2)));
  BOOST_CHECK((*cp2.effectorTrajectories("right_leg"))(min).isApprox((*effR)(min)));
  BOOST_CHECK((*cp2.effectorTrajectories("right_leg"))(max).isApprox((*effR)(max)));
  BOOST_CHECK((*cp2.effectorTrajectories("right_leg"))(1.2).isApprox((*effR)(1.2)));
  BOOST_CHECK_THROW(cp2.effectorTrajectories("left_leg"),std::invalid_argument);
  BOOST_CHECK_THROW(cp2.addEffectorTrajectory("left_leg",effR),std::invalid_argument); // right leg is not in contact, cannot add force
  //cp2.addEffectorTrajectory("right_leg",force12d); // should not compile : not the right return type for the curve

  // check setting init / final data :
  // public members :
  /*
  point3_t m_c_init;
  point3_t m_dc_init;
  point3_t m_ddc_init;
  point3_t m_L_init;
  point3_t m_dL_init;
  pointX_t m_q_init;
  point3_t m_c_final;
  point3_t m_dc_final;
  point3_t m_ddc_final;
  point3_t m_L_final;
  point3_t m_dL_final;
  pointX_t m_q_final;
  */

  point3_t c_init= point3_t::Random();
  point3_t dc_init= point3_t::Random();
  pointX_t ddc_init= point3_t::Random(); // test with point X for automatic conversion
  pointX_t L_init= point3_t::Random();
  point3_t dL_init= point3_t::Random();
  pointX_t q_init= point12_t::Random();
  pointX_t c_final= point3_t::Random();
  pointX_t dc_final= point3_t::Random();
  point3_t ddc_final= point3_t::Random();
  pointX_t L_final= point3_t::Random();
  point3_t dL_final= point3_t::Random();
  pointX_t q_final= point12_t::Random();
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
  cp2.m_c_init = c_init;
  cp2.m_dc_init = dc_init;
  cp2.m_ddc_init = ddc_init;
  cp2.m_L_init = L_init;
  cp2.m_dL_init = dL_init;
  cp2.m_q_init = q_init;
  cp2.m_c_final = c_final;
  cp2.m_dc_final = dc_final;
  cp2.m_ddc_final = ddc_final;
  cp2.m_L_final = L_final;
  cp2.m_dL_final = dL_final;
  cp2.m_q_final = q_final;
  BOOST_CHECK(cp2.m_c_init == c_init);
  BOOST_CHECK(cp2.m_dc_init == dc_init);
  BOOST_CHECK(cp2.m_ddc_init == ddc_init);
  BOOST_CHECK(cp2.m_L_init == L_init);
  BOOST_CHECK(cp2.m_dL_init == dL_init);
  BOOST_CHECK(cp2.m_q_init == q_init);
  BOOST_CHECK(cp2.m_c_final == c_final);
  BOOST_CHECK(cp2.m_dc_final == dc_final);
  BOOST_CHECK(cp2.m_ddc_final == ddc_final);
  BOOST_CHECK(cp2.m_L_final == L_final);
  BOOST_CHECK(cp2.m_dL_final == dL_final);
  BOOST_CHECK(cp2.m_q_final == q_final);
Pierre Fernbach's avatar
Pierre Fernbach committed
636
637
638
639
640
641
642
643
644
645
646
647
648
649

  // check adding trajectory to public members :
/*
  curve_ptr m_q;
  curve_ptr m_dq;
  curve_ptr m_ddq;
  curve_ptr m_tau;
  curve_ptr m_c;
  curve_ptr m_dc;
  curve_ptr m_ddc;
  curve_ptr m_L;
  curve_ptr m_dL;
  curve_ptr m_wrench;
  curve_ptr m_zmp;
650
  curve_SE3_ptr_t m_root;
Pierre Fernbach's avatar
Pierre Fernbach committed
651
652
653
654
655
656
657
658
659
660
661
662
663
  */
  { // inner scope to check that the curves are not destroyed
  curve_ptr_t q = buildRandomPolynomial12D();
  curve_ptr_t dq = buildRandomPolynomial12D();
  curve_ptr_t ddq = buildRandomPolynomial12D();
  curve_ptr_t tau = buildRandomPolynomial12D();
  curve_ptr_t c = buildRandomPolynomial3D();
  curve_ptr_t dc = buildRandomPolynomial3D();
  curve_ptr_t ddc = buildRandomPolynomial3D();
  curve_ptr_t L = buildRandomPolynomial3D();
  curve_ptr_t dL = buildRandomPolynomial3D();
  curve_ptr_t wrench = buildRandomPolynomial3D();
  curve_ptr_t zmp = buildRandomPolynomial3D();
664
  curve_SE3_ptr_t root = buildRandomSE3LinearTraj(1,5.5);
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
  cp2.m_q = q;
  cp2.m_dq = dq;
  cp2.m_ddq = ddq;
  cp2.m_tau = tau;
  cp2.m_c = c;
  cp2.m_dc = dc;
  cp2.m_ddc = ddc;
  cp2.m_L = L;
  cp2.m_dL = dL;
  cp2.m_wrench = wrench;
  cp2.m_zmp = zmp;
  cp2.m_root = root;

  BOOST_CHECK((*cp2.m_q)(q->min()) == (*q)(q->min()));
  BOOST_CHECK((*cp2.m_dq)(dq->min()) == (*dq)(dq->min()));
  BOOST_CHECK((*cp2.m_ddq)(ddq->min()) == (*ddq)(ddq->min()));
  BOOST_CHECK((*cp2.m_tau)(tau->min()) == (*tau)(tau->min()));
  BOOST_CHECK((*cp2.m_c)(c->min()) == (*c)(c->min()));
  BOOST_CHECK((*cp2.m_dc)(dc->min()) == (*dc)(dc->min()));
  BOOST_CHECK((*cp2.m_ddc)(ddc->min()) == (*ddc)(ddc->min()));
  BOOST_CHECK((*cp2.m_L)(L->min()) == (*L)(L->min()));
  BOOST_CHECK((*cp2.m_dL)(dL->min()) == (*dL)(dL->min()));
  BOOST_CHECK((*cp2.m_wrench)(wrench->min()) == (*wrench)(wrench->min()));
  BOOST_CHECK((*cp2.m_zmp)(zmp->min()) == (*zmp)(zmp->min()));
  BOOST_CHECK((*cp2.m_root)(root->min()).isApprox((*root)(root->min())));
  BOOST_CHECK((*cp2.m_q)(q->max()) == (*q)(q->max()));
  BOOST_CHECK((*cp2.m_dq)(dq->max()) == (*dq)(dq->max()));
  BOOST_CHECK((*cp2.m_ddq)(ddq->max()) == (*ddq)(ddq->max()));
  BOOST_CHECK((*cp2.m_tau)(tau->max()) == (*tau)(tau->max()));
  BOOST_CHECK((*cp2.m_c)(c->max()) == (*c)(c->max()));
  BOOST_CHECK((*cp2.m_dc)(dc->max()) == (*dc)(dc->max()));
  BOOST_CHECK((*cp2.m_ddc)(ddc->max()) == (*ddc)(ddc->max()));
  BOOST_CHECK((*cp2.m_L)(L->max()) == (*L)(L->max()));
  BOOST_CHECK((*cp2.m_dL)(dL->max()) == (*dL)(dL->max()));
  BOOST_CHECK((*cp2.m_wrench)(wrench->max()) == (*wrench)(wrench->max()));
  BOOST_CHECK((*cp2.m_zmp)(zmp->max()) == (*zmp)(zmp->max()));
  BOOST_CHECK((*cp2.m_root)(root->max()).isApprox((*root)(root->max())));
Pierre Fernbach's avatar
Pierre Fernbach committed
702
  }
703
704
705
706
707
708
709
710
711
712
713
714
  BOOST_CHECK_NO_THROW(cp2.m_q->operator()(cp2.m_q->min())); // check that the curves still exist after leaving the scope
  BOOST_CHECK_NO_THROW(cp2.m_dq->operator()(cp2.m_dq->min())); // check that the curves still exist after leaving the scope
  BOOST_CHECK_NO_THROW(cp2.m_ddq->operator()(cp2.m_ddq->min())); // check that the curves still exist after leaving the scope
  BOOST_CHECK_NO_THROW(cp2.m_tau->operator()(cp2.m_tau->min())); // check that the curves still exist after leaving the scope
  BOOST_CHECK_NO_THROW(cp2.m_c->operator()(cp2.m_c->min())); // check that the curves still exist after leaving the scope
  BOOST_CHECK_NO_THROW(cp2.m_dc->operator()(cp2.m_dc->min())); // check that the curves still exist after leaving the scope
  BOOST_CHECK_NO_THROW(cp2.m_ddc->operator()(cp2.m_ddc->min())); // check that the curves still exist after leaving the scope
  BOOST_CHECK_NO_THROW(cp2.m_L->operator()(cp2.m_L->min())); // check that the curves still exist after leaving the scope
  BOOST_CHECK_NO_THROW(cp2.m_dL->operator()(cp2.m_dL->min())); // check that the curves still exist after leaving the scope
  BOOST_CHECK_NO_THROW(cp2.m_wrench->operator()(cp2.m_wrench->min())); // check that the curves still exist after leaving the scope
  BOOST_CHECK_NO_THROW(cp2.m_root->operator()(cp2.m_root->min())); // check that the curves still exist after leaving the scope
  BOOST_CHECK_NO_THROW(cp2.m_zmp->operator()(cp2.m_zmp->min())); // check that the curves still exist after leaving the scope
Pierre Fernbach's avatar
Pierre Fernbach committed
715
716


717
  //add more contact and trajectories :
718
719
720
  cp2.addContact("right_hand",ContactPatch(SE3::Identity().setRandom()));
  cp2.addContactForceTrajectory("right_hand",buildRandomPolynomial12D());
  cp2.addContactNormalForceTrajectory("right_hand",buildRandomPolynomial1D());
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
  int num_ctc = 0;
  for (ContactPhase::CurveMap::const_iterator mit = cp2.contactForces().begin() ; mit != cp2.contactForces().end(); ++mit)
  {
    BOOST_CHECK(mit->first == "right_hand" || mit->first == "left_leg");
    num_ctc ++;
  }
  BOOST_CHECK(num_ctc == 2);

  curve_SE3_ptr_t eff_knee(buildRandomSE3LinearTraj(cp2.timeInitial(),cp2.timeFinal()));
  double min_knee = eff_knee->min();
  double max_knee = eff_knee->max();
  newTraj = cp2.addEffectorTrajectory("knee",eff_knee);
  BOOST_CHECK(newTraj);
  BOOST_CHECK((*cp2.effectorTrajectories()["knee"])(min_knee).isApprox((*eff_knee)(min_knee)));
  BOOST_CHECK((*cp2.effectorTrajectories()["knee"])(max_knee).isApprox((*eff_knee)(max_knee)));
  BOOST_CHECK((*cp2.effectorTrajectories()["right_leg"])(min).isApprox((*effR)(min)));
  BOOST_CHECK((*cp2.effectorTrajectories()["right_leg"])(max).isApprox((*effR)(max)));
  BOOST_CHECK((*cp2.effectorTrajectories()["right_leg"])(1.2).isApprox((*effR)(1.2)));
  BOOST_CHECK(cp2.effectorTrajectories().size() == 2);
  int num_eff_traj = 0;
  const ContactPhase::CurveSE3Map trajMap = cp2.effectorTrajectories();
  for (ContactPhase::CurveSE3Map::const_iterator mit = trajMap.begin() ; mit != trajMap.end(); ++mit)
  {
    BOOST_CHECK(mit->first == "knee" || mit->first == "right_leg");
    num_eff_traj ++;
  }
  BOOST_CHECK(num_eff_traj == 2);
  BOOST_CHECK(cp2.effectorsWithTrajectory().size() == 2);
  BOOST_CHECK(cp2.effectorHaveAtrajectory("knee"));
  BOOST_CHECK(cp2.effectorHaveAtrajectory("right_leg"));
  BOOST_CHECK(!cp2.effectorHaveAtrajectory("left_leg"));
752

753
  // check copy constructor and operator ==
754
755
756
757
758
  ContactPhase cp4(cp2);
  ContactPhase cp5 = cp2;
  BOOST_CHECK(cp2 != cp1);
  BOOST_CHECK(cp4 == cp2);
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
  BOOST_CHECK(cp4.m_c_init == c_init);
  BOOST_CHECK(cp4.m_dc_init == dc_init);
  BOOST_CHECK(cp4.m_ddc_init == ddc_init);
  BOOST_CHECK(cp4.m_L_init == L_init);
  BOOST_CHECK(cp4.m_dL_init == dL_init);
  BOOST_CHECK(cp4.m_q_init == q_init);
  BOOST_CHECK(cp4.m_c_final == c_final);
  BOOST_CHECK(cp4.m_dc_final == dc_final);
  BOOST_CHECK(cp4.m_ddc_final == ddc_final);
  BOOST_CHECK(cp4.m_L_final == L_final);
  BOOST_CHECK(cp4.m_dL_final == dL_final);
  BOOST_CHECK(cp4.m_q_final == q_final);
  BOOST_CHECK(cp5.m_c_init == c_init);
  BOOST_CHECK(cp5.m_dc_init == dc_init);
  BOOST_CHECK(cp5.m_ddc_init == ddc_init);
  BOOST_CHECK(cp5.m_L_init == L_init);
  BOOST_CHECK(cp5.m_dL_init == dL_init);
  BOOST_CHECK(cp5.m_q_init == q_init);
  BOOST_CHECK(cp5.m_c_final == c_final);
  BOOST_CHECK(cp5.m_dc_final == dc_final);
  BOOST_CHECK(cp5.m_ddc_final == ddc_final);
  BOOST_CHECK(cp5.m_L_final == L_final);
  BOOST_CHECK(cp5.m_dL_final == dL_final);
  BOOST_CHECK(cp5.m_q_final == q_final);
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
  BOOST_CHECK((*cp5.m_q)(cp2.m_q->min())==(*cp2.m_q)(cp2.m_q->min()));
  BOOST_CHECK((*cp5.m_dq)(cp2.m_dq->min())==(*cp2.m_dq)(cp2.m_dq->min()));
  BOOST_CHECK((*cp5.m_ddq)(cp2.m_ddq->min())==(*cp2.m_ddq)(cp2.m_ddq->min()));
  BOOST_CHECK((*cp5.m_tau)(cp2.m_tau->min())==(*cp2.m_tau)(cp2.m_tau->min()));
  BOOST_CHECK((*cp5.m_c)(cp2.m_c->min())==(*cp2.m_c)(cp2.m_c->min()));
  BOOST_CHECK((*cp5.m_dc)(cp2.m_dc->min())==(*cp2.m_dc)(cp2.m_dc->min()));
  BOOST_CHECK((*cp5.m_ddc)(cp2.m_ddc->min())==(*cp2.m_ddc)(cp2.m_ddc->min()));
  BOOST_CHECK((*cp5.m_L)(cp2.m_L->min())==(*cp2.m_L)(cp2.m_L->min()));
  BOOST_CHECK((*cp5.m_dL)(cp2.m_dL->min())==(*cp2.m_dL)(cp2.m_dL->min()));
  BOOST_CHECK((*cp5.m_wrench)(cp2.m_wrench->min())==(*cp2.m_wrench)(cp2.m_wrench->min()));
  BOOST_CHECK((*cp5.m_zmp)(cp2.m_zmp->min())==(*cp2.m_zmp)(cp2.m_zmp->min()));
  BOOST_CHECK((*cp5.m_root)(cp2.m_root->min()).isApprox((*cp2.m_root)(cp2.m_root->min())));
  BOOST_CHECK(cp5.contactForces() == cp2.contactForces());
  BOOST_CHECK(cp5.contactNormalForces() == cp2.contactNormalForces());
  BOOST_CHECK(cp5.effectorTrajectories() == cp2.effectorTrajectories());
  BOOST_CHECK(cp5.effectorsInContact() == cp2.effectorsInContact());
  BOOST_CHECK(cp5.contactPatches() == cp2.contactPatches());
  BOOST_CHECK(cp5.contactForces("left_leg") == cp2.contactForces("left_leg"));
  BOOST_CHECK(cp5.contactNormalForces("left_leg") == cp2.contactNormalForces("left_leg"));
  BOOST_CHECK(cp5.contactForces("right_hand") == cp2.contactForces("right_hand"));
  BOOST_CHECK(cp5.contactNormalForces("right_hand") == cp2.contactNormalForces("right_hand"));
  BOOST_CHECK(cp5.effectorTrajectories("right_leg") == cp2.effectorTrajectories("right_leg"));
  BOOST_CHECK(cp5.effectorTrajectories("knee") == cp2.effectorTrajectories("knee"));
  BOOST_CHECK(cp5.contactPatch("left_leg") == cp2.contactPatch("left_leg"));
  BOOST_CHECK(cp5.contactPatch("right_hand") == cp2.contactPatch("right_hand"));

  // check operator != and ==
Pierre Fernbach's avatar
Pierre Fernbach committed
810
811
  pointX_t p = point3_t::Random();
  cp5.m_c_init = p;
812
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
813
  BOOST_CHECK(cp5.m_c_init == p);
814
815
816
  BOOST_CHECK(cp2.m_c_init != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
817
818
  p = point3_t::Random();
  cp5.m_dc_init = p;
819
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
820
  BOOST_CHECK(cp5.m_dc_init == p);
821
822
823
  BOOST_CHECK(cp2.m_dc_init != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
824
825
  p = point3_t::Random();
  cp5.m_ddc_init = p;
826
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
827
  BOOST_CHECK(cp5.m_ddc_init == p);
828
829
830
  BOOST_CHECK(cp2.m_ddc_init != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
831
832
  p = point3_t::Random();
  cp5.m_L_init = p;
833
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
834
  BOOST_CHECK(cp5.m_L_init == p);
835
836
837
  BOOST_CHECK(cp2.m_L_init != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
838
839
  p = point3_t::Random();
  cp5.m_dL_init = p;
840
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
841
  BOOST_CHECK(cp5.m_dL_init == p);
842
843
844
  BOOST_CHECK(cp2.m_dL_init != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
845
846
  p = point12_t::Random();
  cp5.m_q_init = p;
847
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
848
  BOOST_CHECK(cp5.m_q_init == p);
849
850
851
  BOOST_CHECK(cp2.m_q_init != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
852
853
  p = point3_t::Random();
  cp5.m_c_final = p;
854
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
855
  BOOST_CHECK(cp5.m_c_final == p);
856
857
858
  BOOST_CHECK(cp2.m_c_final != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
859
860
  p = point3_t::Random();
  cp5.m_dc_final = p;
861
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
862
  BOOST_CHECK(cp5.m_dc_final == p);
863
864
865
  BOOST_CHECK(cp2.m_dc_final != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
866
867
  p = point3_t::Random();
  cp5.m_ddc_final = p;
868
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
869
  BOOST_CHECK(cp5.m_ddc_final == p);
870
871
872
  BOOST_CHECK(cp2.m_ddc_final != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
873
874
  p = point3_t::Random();
  cp5.m_L_final = p;
875
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
876
  BOOST_CHECK(cp5.m_L_final == p);
877
878
879
  BOOST_CHECK(cp2.m_L_final != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
880
881
  p = point3_t::Random();
  cp5.m_dL_final = p;
882
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
883
  BOOST_CHECK(cp5.m_dL_final == p);
884
885
886
  BOOST_CHECK(cp2.m_dL_final != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
887
888
  p = point12_t::Random();
  cp5.m_q_final = p;
889
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
890
  BOOST_CHECK(cp5.m_q_final == p);
891
892
893
  BOOST_CHECK(cp2.m_q_final != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
894

Pierre Fernbach's avatar
Pierre Fernbach committed
895
896
897
  curve_ptr_t curve;
  curve = buildRandomPolynomial12D();
  cp5.m_q = curve;
898
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
899
  BOOST_CHECK(cp5.m_q == curve);
900
901
902
  BOOST_CHECK(cp2.m_q != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
903
904
  curve = buildRandomPolynomial12D();
  cp5.m_dq = curve;
905
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
906
  BOOST_CHECK(cp5.m_dq == curve);
907
908
909
  BOOST_CHECK(cp2.m_dq != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
910
911
  curve = buildRandomPolynomial12D();
  cp5.m_ddq = curve;
912
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
913
  BOOST_CHECK(cp5.m_ddq == curve);
914
915
916
  BOOST_CHECK(cp2.m_ddq != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
917
918
  curve = buildRandomPolynomial12D();
  cp5.m_tau = curve;
919
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
920
  BOOST_CHECK(cp5.m_tau == curve);
921
922
923
  BOOST_CHECK(cp2.m_tau != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
924
925
  curve = buildRandomPolynomial3D();
  cp5.m_c = curve;
926
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
927
  BOOST_CHECK(cp5.m_c == curve);
928
929
930
  BOOST_CHECK(cp2.m_c != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
931
932
  curve = buildRandomPolynomial3D();
  cp5.m_dc = curve;
933
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
934
  BOOST_CHECK(cp5.m_dc == curve);
935
936
937
  BOOST_CHECK(cp2.m_dc != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
938
939
  curve = buildRandomPolynomial3D();
  cp5.m_ddc = curve;
940
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
941
  BOOST_CHECK(cp5.m_ddc == curve);
942
943
944
  BOOST_CHECK(cp2.m_ddc != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
945
946
  curve = buildRandomPolynomial3D();
  cp5.m_L = curve;
947
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
948
  BOOST_CHECK(cp5.m_L == curve);
949
950
951
  BOOST_CHECK(cp2.m_L != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
952
953
  curve = buildRandomPolynomial3D();
  cp5.m_dL = curve;
954
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
955
  BOOST_CHECK(cp5.m_dL == curve);
956
957
958
  BOOST_CHECK(cp2.m_dL != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
959
960
  curve = buildRandomPolynomial3D();
  cp5.m_wrench = curve;
961
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
962
  BOOST_CHECK(cp5.m_wrench == curve);
963
964
965
  BOOST_CHECK(cp2.m_wrench != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
966
967
  curve = buildRandomPolynomial3D();
  cp5.m_zmp = curve;
968
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
969
  BOOST_CHECK(cp5.m_zmp == curve);
970
971
972
  BOOST_CHECK(cp2.m_zmp != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
973
  curve_SE3_ptr_t curveSE3 = buildRandomSE3LinearTraj(1.5,2.9);
Pierre Fernbach's avatar
Pierre Fernbach committed
974
  cp5.m_root = curveSE3;
975
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
976
  BOOST_CHECK(cp5.m_root == curveSE3);
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
  BOOST_CHECK(cp2.m_root != curveSE3);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);

  cp5.removeContact("left_leg");
  BOOST_CHECK(cp5 != cp2);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
  cp5.addContact("test",ContactPatch(SE3::Identity().setRandom()));
  BOOST_CHECK(cp5 != cp2);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
  cp5.addEffectorTrajectory("knee",buildRandomSE3LinearTraj(cp5.timeInitial(),cp5.timeFinal()));
  BOOST_CHECK(cp5 != cp2);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
  cp5.addContactForceTrajectory("left_leg",buildRandomPolynomial12D());
  BOOST_CHECK(cp5 != cp2);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
  cp5.addContactNormalForceTrajectory("left_leg",buildRandomPolynomial1D());
  BOOST_CHECK(cp5 != cp2);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);


  // check that when removing the contact the trajectory are correctly deleted :
  cp5.removeContact("left_leg");
  BOOST_CHECK(!cp5.isEffectorInContact("left_leg"));
  BOOST_CHECK(cp5.contactForces().count("left_leg") == 0);
  BOOST_CHECK(cp5.contactNormalForces().count("left_leg") == 0);
  // check that when adding a contact the effector trajectory is correctly deleted :
  cp5.addContact("right_leg",patchR);
  BOOST_CHECK(cp5.effectorTrajectories().count("right_leg") == 0);

Pierre Fernbach's avatar
Pierre Fernbach committed
1012
  // check serialization
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
  std::string fileName("fileTest");
  ContactPhase cp_from_txt,cp_from_xml,cp_from_bin;
  std::cout<<"cp2 before serialization : "<<std::endl<<cp2<<std::endl;

  cp2.saveAsText(fileName+".txt");
  cp_from_txt.loadFromText(fileName+".txt");
  BOOST_CHECK(cp2 == cp_from_txt);
  std::cout<<"cp2 after deserialization : "<<std::endl<<cp_from_txt<<std::endl;

  cp2.saveAsXML(fileName+".xml","ContactPhase");
  cp_from_xml.loadFromXML(fileName+".xml","ContactPhase");
  BOOST_CHECK(cp2 == cp_from_xml);

  cp2.saveAsBinary(fileName);
  cp_from_bin.loadFromBinary(fileName);
  BOOST_CHECK(cp2 == cp_from_bin);

  explicitContactPhaseAssertEqual(cp2,cp_from_txt);
1031
1032

}
Pierre Fernbach's avatar
Pierre Fernbach committed
1033

1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
BOOST_AUTO_TEST_CASE(contact_sequence)
{
  // test without specifying size and using 'append' :
  ContactSequence cs1 = ContactSequence(0);
  BOOST_CHECK(cs1.size() == 0);
  ContactPhase cp0 = buildRandomContactPhase(0,2);
  ContactPhase cp1 = buildRandomContactPhase(2,4.);
  size_t id = cs1.append(cp0);
  BOOST_CHECK(cs1.size() == 1);
  BOOST_CHECK(id == 0);
  BOOST_CHECK(cs1.contactPhase(0) == cp0);
  id = cs1.append(cp1);
  BOOST_CHECK(cs1.size() == 2);
  BOOST_CHECK(id == 1);
  BOOST_CHECK(cs1.contactPhase(0) == cp0);
  BOOST_CHECK(cs1.contactPhase(1) == cp1);
  // check with accessor to the contact phases vector
  ContactPhaseVector phases = cs1.contactPhases();
  BOOST_CHECK(phases.size() == 2);
  BOOST_CHECK(phases[0] == cp0);
  BOOST_CHECK(phases[1] == cp1);

  // check that the accessor to contactPhases() create a copy :
  ContactPhase cp2 = buildRandomContactPhase(0,2);
  phases.push_back(cp2);
  BOOST_CHECK(phases.size() == 3);
  BOOST_CHECK(cs1.size() == 2 ); // original contact sequence should not be modified
  phases[1].duration(3.);
  BOOST_CHECK(cs1.contactPhase(1) == cp1); // original contact sequence should not be modified

  // check that contactPhase(id) getter return non const reference :
  cs1.contactPhase(1).timeFinal(10.);
  BOOST_CHECK(cs1.contactPhase(1) != cp1);
  BOOST_CHECK(cs1.contactPhase(1).timeFinal() == 10.);

  cs1.contactPhase(0) = cp2;
  BOOST_CHECK(cs1.contactPhase(0) == cp2);

  // check with creating a contact sequence with a given size :
  ContactPhase cp_default;
  ContactSequence cs2 = ContactSequence(3);
  BOOST_CHECK(cs2.size() == 3);
  for(size_t i = 0 ; i < 3 ; ++i)
    BOOST_CHECK(cs2.contactPhase(i) == cp_default);

  // try to modify the uninitialized contact phase inside the sequence from the reference
  ContactPhase& cp2_0 = cs2.contactPhase(0);
  point3_t c_init = point3_t::Random();
  cp2_0.m_c_init = c_init;
  cp2_0.duration(10);
  BOOST_CHECK(cs2.contactPhase(0) != cp_default);
  BOOST_CHECK(cs2.contactPhase(0).duration() == 10);
  BOOST_CHECK(cs2.contactPhase(0).m_c_init == c_init);

  cs2.contactPhase(1) = cp1;
  BOOST_CHECK(cs2.contactPhase(1) == cp1);

  // try resize method :
  // with smaller value than current :
  cs2.resize(1);
  BOOST_CHECK(cs2.size() == 1);
  BOOST_CHECK(cs2.contactPhase(0).duration() == 10);
  BOOST_CHECK(cs2.contactPhase(0).m_c_init == c_init);

  // check with greater size than current :
  cs2.resize(4);
  BOOST_CHECK(cs2.size() == 4);
  BOOST_CHECK(cs2.contactPhase(0).duration() == 10);
  BOOST_CHECK(cs2.contactPhase(0).m_c_init == c_init);
  for(size_t i = 1 ; i < 4 ; ++i)
    BOOST_CHECK(cs2.contactPhase(i) == cp_default);

}
1107

Justin Carpentier's avatar
Justin Carpentier committed
1108
BOOST_AUTO_TEST_SUITE_END()