scenario.cpp 73.4 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
typedef Eigen::Matrix<double, 1, 1> point1_t;
25
26
using curves::point3_t;
using curves::point6_t;
Pierre Fernbach's avatar
Pierre Fernbach committed
27
typedef Eigen::Matrix<double, 12, 1> point12_t;
Pierre Fernbach's avatar
Pierre Fernbach committed
28
29
using curves::curve_ptr_t;
using curves::curve_SE3_ptr_t;
30
using curves::matrix3_t;
Guilhem Saurel's avatar
format    
Guilhem Saurel committed
31
32
using curves::piecewise_SE3_t;
using curves::piecewise_t;
Pierre Fernbach's avatar
Pierre Fernbach committed
33
using curves::pointX_t;
34
using curves::quaternion_t;
35
using curves::t_point3_t;
Pierre Fernbach's avatar
Pierre Fernbach committed
36
using curves::t_pointX_t;
Guilhem Saurel's avatar
Guilhem Saurel committed
37
using namespace multicontact_api::scenario;
38
typedef ContactSequence::ContactPhaseVector ContactPhaseVector;
Justin Carpentier's avatar
Justin Carpentier committed
39

Guilhem Saurel's avatar
Guilhem Saurel committed
40
41
template <typename Scalar>
struct ATpl {
42
  typedef pinocchio::SE3Tpl<Scalar> SE3;
Guilhem Saurel's avatar
Guilhem Saurel committed
43

Justin Carpentier's avatar
Justin Carpentier committed
44
  explicit ATpl() : data() {}
Guilhem Saurel's avatar
Guilhem Saurel committed
45
  explicit ATpl(const ATpl& other) : data(other.data){};
Guilhem Saurel's avatar
Guilhem Saurel committed
46

Guilhem Saurel's avatar
Guilhem Saurel committed
47
  bool operator==(const ATpl& other) { return data == other.data; }
Guilhem Saurel's avatar
Guilhem Saurel committed
48

Guilhem Saurel's avatar
Guilhem Saurel committed
49
 protected:
Justin Carpentier's avatar
Justin Carpentier committed
50
51
52
53
  SE3 data;
};

typedef ATpl<double> Ad;
Pierre Fernbach's avatar
Pierre Fernbach committed
54
55
typedef pinocchio::SE3Tpl<double> SE3;

Pierre Fernbach's avatar
Pierre Fernbach committed
56
curve_ptr_t buildPiecewisePolynomialC2() {
Pierre Fernbach's avatar
Pierre Fernbach committed
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
93
  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);

94
  curves::piecewise_t ppc_C2 = curves::piecewise_t::convert_discrete_points_to_polynomial<curves::polynomial_t>(
Pierre Fernbach's avatar
Pierre Fernbach committed
95
      points, points_derivative, points_second_derivative, time_points);
96
  curve_ptr_t res(new curves::piecewise_t(ppc_C2));
Pierre Fernbach's avatar
Pierre Fernbach committed
97
98
99
100
  return res;
}

template <typename Point>
101
curve_ptr_t buildRandomPolynomial(double min = -1, double max = -1) {
Pierre Fernbach's avatar
Pierre Fernbach committed
102
103
104
105
  pointX_t a = Point::Random();
  pointX_t b = Point::Random();
  pointX_t c = Point::Random();
  pointX_t d = Point::Random();
Guilhem Saurel's avatar
format    
Guilhem Saurel committed
106
  if (min < 0 && max < 0) {
107
108
109
110
111
    const double t1 = Eigen::internal::random<double>(0., 10.);
    const double t2 = Eigen::internal::random<double>(0., 10.);
    min = std::min(t1, t2);
    max = std::max(t1, t2);
  }
Pierre Fernbach's avatar
Pierre Fernbach committed
112
113
114
115
116
  t_pointX_t vec;
  vec.push_back(a);
  vec.push_back(b);
  vec.push_back(c);
  vec.push_back(d);
Pierre Fernbach's avatar
Pierre Fernbach committed
117
118
  curve_ptr_t res(new curves::polynomial_t(vec.begin(), vec.end(), min, max));
  return res;
119
120
}

Guilhem Saurel's avatar
format    
Guilhem Saurel committed
121
122
123
curve_ptr_t buildRandomPolynomial3D(double min = -1, double max = -1) {
  return buildRandomPolynomial<point3_t>(min, max);
}
124

Guilhem Saurel's avatar
format    
Guilhem Saurel committed
125
126
127
curve_ptr_t buildRandomPolynomial12D(double min = -1, double max = -1) {
  return buildRandomPolynomial<point12_t>(min, max);
}
Pierre Fernbach's avatar
Pierre Fernbach committed
128

Guilhem Saurel's avatar
format    
Guilhem Saurel committed
129
130
131
curve_ptr_t buildRandomPolynomial1D(double min = -1, double max = -1) {
  return buildRandomPolynomial<point1_t>(min, max);
}
Pierre Fernbach's avatar
Pierre Fernbach committed
132

Pierre Fernbach's avatar
Pierre Fernbach committed
133
curve_SE3_ptr_t buildPiecewiseSE3() {
Pierre Fernbach's avatar
Pierre Fernbach committed
134
135
136
137
138
139
140
  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.);
141
  curve_SE3_ptr_t cLinear(new curves::SE3Curve_t(p0, p1, q0, q1, min, mid));
Pierre Fernbach's avatar
Pierre Fernbach committed
142
143
144
145
146
147
148
149
150
  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);
151
152
  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
153

154
155
156
  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
157
158
159
  return res;
}

Pierre Fernbach's avatar
Pierre Fernbach committed
160
161
162
163
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);
Pierre Fernbach's avatar
Pierre Fernbach committed
164
165
166
  return quaternion_t(a * sin(u2), a * cos(u2), b * sin(u3), b * cos(u3)).normalized();
}

Pierre Fernbach's avatar
Pierre Fernbach committed
167
curve_SE3_ptr_t buildRandomSE3LinearTraj(const double min, const double max) {
Pierre Fernbach's avatar
Pierre Fernbach committed
168
169
  quaternion_t q0 = randomQuaternion();
  quaternion_t q1 = randomQuaternion();
170
171
  q0.normalize();
  q1.normalize();
Pierre Fernbach's avatar
Pierre Fernbach committed
172
173
174
  pointX_t p0 = point3_t::Random();
  pointX_t p1 = point3_t::Random();

175
  curve_SE3_ptr_t res(new curves::SE3Curve_t(p0, p1, q0, q1, min, max));
Pierre Fernbach's avatar
Pierre Fernbach committed
176
177
178
  return res;
}

Pierre Fernbach's avatar
Pierre Fernbach committed
179
180
181
182
183
184
185
186
187
188
189
190
191
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();
192
193
194
195
196
197
198
199
200
201
202
203
204
205
  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;
}

Pierre Fernbach's avatar
Pierre Fernbach committed
206
void addRandomCurvesValues(ContactPhase& cp) {
207
208
209
210
211
212
213
214
215
216
217
  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();
Pierre Fernbach's avatar
Pierre Fernbach committed
218
  curve_SE3_ptr_t root = buildRandomSE3LinearTraj(1, 5.5);
219
220
221
222
223
224
225
226
227
228
229
230
231
232
  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;
}

Pierre Fernbach's avatar
Pierre Fernbach committed
233
234
235
void addRandomContacts(ContactPhase& cp) {
  cp.addContact("right_hand", ContactPatch(SE3::Identity().setRandom()));
  cp.addContact("left_foot", ContactPatch(SE3::Identity().setRandom()));
236
237
}

Pierre Fernbach's avatar
Pierre Fernbach committed
238
239
240
241
242
void addRandomForcesTrajs(ContactPhase& cp) {
  cp.addContactForceTrajectory("right_hand", buildRandomPolynomial12D());
  cp.addContactForceTrajectory("left_foot", buildRandomPolynomial12D());
  cp.addContactNormalForceTrajectory("right_hand", buildRandomPolynomial1D());
  cp.addContactNormalForceTrajectory("left_foot", buildRandomPolynomial1D());
243
244
}

Pierre Fernbach's avatar
Pierre Fernbach committed
245
246
247
void addRandomEffectorTrajectories(ContactPhase& cp) {
  cp.addEffectorTrajectory("left_hand", buildRandomSE3LinearTraj(0, 2));
  cp.addEffectorTrajectory("right_foot", buildRandomSE3LinearTraj(0, 2));
248
249
}

250
ContactPhase buildRandomContactPhase(const double min, const double max) {
Pierre Fernbach's avatar
Pierre Fernbach committed
251
252
253
254
255
256
257
  ContactPhase cp(min, max);
  addRandomPointsValues(cp);
  addRandomCurvesValues(cp);
  addRandomContacts(cp);
  addRandomForcesTrajs(cp);
  addRandomEffectorTrajectories(cp);
  return cp;
258
}
Pierre Fernbach's avatar
Pierre Fernbach committed
259

260
261
262
263
264
265
266
267
268
269
ContactPhase buildRandomContactPhase() {
  ContactPhase cp;
  addRandomPointsValues(cp);
  addRandomCurvesValues(cp);
  addRandomContacts(cp);
  addRandomForcesTrajs(cp);
  addRandomEffectorTrajectories(cp);
  return cp;
}

Pierre Fernbach's avatar
Pierre Fernbach committed
270
void explicitContactPhaseAssertEqual(ContactPhase& cp1, ContactPhase& cp2) {
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
  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);
Pierre Fernbach's avatar
Pierre Fernbach committed
295
296
297
298
299
300
301
302
303
304
305
  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()));
306
  BOOST_CHECK((*cp1.m_root)(cp2.m_root->min()).isApprox((*cp2.m_root)(cp2.m_root->min())));
307
308
309
310
311
312
313
314
315
316
317
318
  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()));
319
320
321
322
323
  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());
324
  const ContactPhase::t_strings eeNames = cp2.effectorsInContact();
Pierre Fernbach's avatar
Pierre Fernbach committed
325
  for (ContactPhase::t_strings::const_iterator ee = eeNames.begin(); ee != eeNames.end(); ++ee) {
326
    BOOST_CHECK(cp2.isEffectorInContact(*ee));
327
    BOOST_CHECK(cp1.contactPatch(*ee) == cp2.contactPatch(*ee));
Pierre Fernbach's avatar
Pierre Fernbach committed
328
    if (cp1.contactForces().count(*ee)) {
329
      BOOST_CHECK(cp2.contactForces().count(*ee));
330
      BOOST_CHECK(cp1.contactForces(*ee)->isApprox(cp2.contactForces(*ee).get()));
Pierre Fernbach's avatar
Pierre Fernbach committed
331
332
333
334
      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()));
335
    }
Pierre Fernbach's avatar
Pierre Fernbach committed
336
    if (cp1.contactNormalForces().count(*ee)) {
337
      BOOST_CHECK(cp2.contactNormalForces().count(*ee));
338
      BOOST_CHECK(cp1.contactNormalForces(*ee)->isApprox(cp2.contactNormalForces(*ee).get()));
Pierre Fernbach's avatar
Pierre Fernbach committed
339
340
341
342
      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()));
343
344
    }
  }
345
  const ContactPhase::CurveSE3Map_t trajMap = cp2.effectorTrajectories();
Pierre Fernbach's avatar
Pierre Fernbach committed
346
  for (ContactPhase::CurveSE3Map_t::const_iterator mit = trajMap.begin(); mit != trajMap.end(); ++mit) {
347
    BOOST_CHECK(cp2.effectorTrajectories().count(mit->first));
348
    BOOST_CHECK(cp1.effectorTrajectories(mit->first)->isApprox(cp2.effectorTrajectories(mit->first).get()));
Pierre Fernbach's avatar
Pierre Fernbach committed
349
350
351
352
    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())));
353
354
355
  }
}

Justin Carpentier's avatar
Justin Carpentier committed
356
357
BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)

Guilhem Saurel's avatar
Guilhem Saurel committed
358
BOOST_AUTO_TEST_CASE(contact_model) {
Justin Carpentier's avatar
Justin Carpentier committed
359
360
  const double mu = 0.3;
  const double ZMP_radius = 0.01;
Guilhem Saurel's avatar
Guilhem Saurel committed
361

Guilhem Saurel's avatar
Guilhem Saurel committed
362
  ContactModelPlanar mp1(mu, ZMP_radius);
Justin Carpentier's avatar
Justin Carpentier committed
363
  ContactModelPlanar mp2(mp1);
364
365
  BOOST_CHECK(mp1.m_mu == mu);
  BOOST_CHECK(mp1.m_ZMP_radius == ZMP_radius);
Guilhem Saurel's avatar
Guilhem Saurel committed
366

Justin Carpentier's avatar
Justin Carpentier committed
367
  BOOST_CHECK(mp1 == mp2);
368
369
370
  mp1.m_mu = 0.5;
  BOOST_CHECK(mp1 != mp2);

Pierre Fernbach's avatar
Pierre Fernbach committed
371
  // TODO : check serialization
Justin Carpentier's avatar
Justin Carpentier committed
372
373
}

Guilhem Saurel's avatar
Guilhem Saurel committed
374
BOOST_AUTO_TEST_CASE(contact_patch) {
Pierre Fernbach's avatar
Pierre Fernbach committed
375
  // check default constructor :
Justin Carpentier's avatar
Justin Carpentier committed
376
  ContactPatch cp;
Pierre Fernbach's avatar
Pierre Fernbach committed
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
  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();
Pierre Fernbach's avatar
Pierre Fernbach committed
394
  ContactPatch cp2(p, 0.9);
Pierre Fernbach's avatar
Pierre Fernbach committed
395
396
397
398
399
  BOOST_CHECK(cp2.placement() == p);
  BOOST_CHECK(cp2.friction() == 0.9);

  // check comparison operator
  BOOST_CHECK(cp1 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
400
  ContactPatch cp3(p, 0.9);
Pierre Fernbach's avatar
Pierre Fernbach committed
401
402
403
404
405
406
407
408
409
410
411
412
  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);

413
  // operator =
Pierre Fernbach's avatar
Pierre Fernbach committed
414
415
416
417
418
  ContactPatch cp5 = cp4;
  BOOST_CHECK(cp4 == cp5);
  cp5.friction() = 2.;
  BOOST_CHECK(cp4 != cp5);

Pierre Fernbach's avatar
Pierre Fernbach committed
419
420
421
422
423
424
425
  // serialization :
  std::string fileName("fileTest");
  cp3.saveAsText(fileName);
  ContactPatch cp_from_text;
  cp_from_text.loadFromText(fileName);
  BOOST_CHECK(cp3 == cp_from_text);

Pierre Fernbach's avatar
Pierre Fernbach committed
426
  cp3.saveAsXML(fileName, "ContactPatch");
Pierre Fernbach's avatar
Pierre Fernbach committed
427
  ContactPatch cp_from_xml;
Pierre Fernbach's avatar
Pierre Fernbach committed
428
  cp_from_xml.loadFromXML(fileName, "ContactPatch");
Pierre Fernbach's avatar
Pierre Fernbach committed
429
430
431
432
433
434
  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
435
436
}

Pierre Fernbach's avatar
Pierre Fernbach committed
437
BOOST_AUTO_TEST_CASE(contact_phase) {
Pierre Fernbach's avatar
Pierre Fernbach committed
438
439
440
441
442
443
  // default constructor
  ContactPhase cp1;
  // test timings setter/getter
  BOOST_CHECK(cp1.timeInitial() == -1);
  BOOST_CHECK(cp1.timeFinal() == -1);
  BOOST_CHECK(cp1.duration() == 0);
Pierre Fernbach's avatar
Pierre Fernbach committed
444
445
  // cp1.timeInitial() = 2; // should not compile : only const return for times
  // cp1.timeInitial() = 2; // should not compile : only const return for times
Pierre Fernbach's avatar
Pierre Fernbach committed
446
447
448
449
450
451
452
453
454
  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.);
455
456
  BOOST_CHECK(cp1.numContacts() == 0);

Pierre Fernbach's avatar
Pierre Fernbach committed
457
458
459
460
461
462
  // 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);
Pierre Fernbach's avatar
Pierre Fernbach committed
463

Pierre Fernbach's avatar
Pierre Fernbach committed
464
465
  // Constructor with timings :
  ContactPhase cp2(0.5, 2.);
Pierre Fernbach's avatar
Pierre Fernbach committed
466
467
468
469
470
471
  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());
Pierre Fernbach's avatar
Pierre Fernbach committed
472
  bool newContact = cp2.addContact("left_leg", patchL);
Pierre Fernbach's avatar
Pierre Fernbach committed
473
  BOOST_CHECK(newContact);
Pierre Fernbach's avatar
Pierre Fernbach committed
474
475
  BOOST_CHECK(cp2.isEffectorInContact("left_leg"));
  BOOST_CHECK(!cp2.isEffectorInContact("other"));
Pierre Fernbach's avatar
Pierre Fernbach committed
476
477
  BOOST_CHECK(cp2.contactPatch("left_leg") == patchL);
  BOOST_CHECK(cp2.contactPatches()["left_leg"] == patchL);
478
  BOOST_CHECK(cp2.numContacts() == 1);
Pierre Fernbach's avatar
Pierre Fernbach committed
479
  BOOST_CHECK_THROW(cp2.contactPatch("other"), std::invalid_argument);
Pierre Fernbach's avatar
Pierre Fernbach committed
480
481

  ContactPatch patchR(SE3::Identity().setRandom());
Pierre Fernbach's avatar
Pierre Fernbach committed
482
  newContact = cp2.addContact("right_leg", patchR);
Pierre Fernbach's avatar
Pierre Fernbach committed
483
484
485
486
487
488
489
490
  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);

Pierre Fernbach's avatar
Pierre Fernbach committed
491
492
493
  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
Pierre Fernbach's avatar
Pierre Fernbach committed
494
  BOOST_CHECK(!cp2.isEffectorInContact("other"));
Pierre Fernbach's avatar
Pierre Fernbach committed
495
496
  ContactPatch patchR2(SE3::Identity().setRandom(), 1.5);
  //  cp2.contactPatches
Pierre Fernbach's avatar
Pierre Fernbach committed
497

Pierre Fernbach's avatar
Pierre Fernbach committed
498
  newContact = cp2.addContact("left_leg", ContactPatch(SE3::Identity().setRandom(), 0.5));
Pierre Fernbach's avatar
Pierre Fernbach committed
499
500
501
502
  BOOST_CHECK(!newContact);
  BOOST_CHECK(cp2.isEffectorInContact("left_leg"));
  BOOST_CHECK(cp2.isEffectorInContact("right_leg"));
  BOOST_CHECK(cp2.contactPatch("left_leg") != patchL);
503
  BOOST_CHECK(cp2.numContacts() == 2);
Pierre Fernbach's avatar
Pierre Fernbach committed
504
505
506
507
508

  bool exist = cp2.removeContact("right_leg");
  BOOST_CHECK(exist);
  BOOST_CHECK(cp2.isEffectorInContact("left_leg"));
  BOOST_CHECK(!cp2.isEffectorInContact("right_leg"));
509
  BOOST_CHECK(cp2.numContacts() == 1);
Pierre Fernbach's avatar
Pierre Fernbach committed
510
511
512
513
514
515
516
517
518
519
  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.;
520
  curve_ptr_t force12d(new curves::polynomial_t(f0, f1, min, max));
Pierre Fernbach's avatar
Pierre Fernbach committed
521
  bool newTraj = cp2.addContactForceTrajectory("left_leg", force12d);
Pierre Fernbach's avatar
Pierre Fernbach committed
522
  BOOST_CHECK(newTraj);
Pierre Fernbach's avatar
Pierre Fernbach committed
523
  newTraj = cp2.addContactForceTrajectory("left_leg", force12d);
Pierre Fernbach's avatar
Pierre Fernbach committed
524
525
526
527
528
529
530
531
532
  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();
533
  curve_ptr_t force12d_1(new curves::polynomial_t(f0_1, f1_1, min, max));
Pierre Fernbach's avatar
Pierre Fernbach committed
534
535
  cp2.contactForces().insert(
      std::pair<std::string, curve_ptr_t>("right_leg", force12d_1));  // should not have any effect only const getter
Pierre Fernbach's avatar
Pierre Fernbach committed
536
  BOOST_CHECK(cp2.contactForces().count("right_leg") == 0);
Pierre Fernbach's avatar
Pierre Fernbach committed
537
  cp2.contactForces().erase("left_leg");  // should not have any effect
Pierre Fernbach's avatar
Pierre Fernbach committed
538
  BOOST_CHECK((*cp2.contactForces("left_leg"))(min) == f0);
Pierre Fernbach's avatar
Pierre Fernbach committed
539
540
541
  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);
Pierre Fernbach's avatar
Pierre Fernbach committed
542
543
544

  // check with piecewise curve :
  curve_ptr_t force_C2 = buildPiecewisePolynomialC2();
Pierre Fernbach's avatar
Pierre Fernbach committed
545
  cp2.addContactForceTrajectory("left_leg", force_C2);
Pierre Fernbach's avatar
Pierre Fernbach committed
546
547
548
549
550
551
552
553
  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;
554
  curve_ptr_t force1d(new curves::polynomial_t(nf0, nf1, min, max));
Pierre Fernbach's avatar
Pierre Fernbach committed
555
  newTraj = cp2.addContactNormalForceTrajectory("left_leg", force1d);
Pierre Fernbach's avatar
Pierre Fernbach committed
556
  BOOST_CHECK(newTraj);
Pierre Fernbach's avatar
Pierre Fernbach committed
557
  newTraj = cp2.addContactNormalForceTrajectory("left_leg", force1d);
Pierre Fernbach's avatar
Pierre Fernbach committed
558
559
560
561
562
563
564
565
566
567
568
  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;
569
  curve_ptr_t force1d_1(new curves::polynomial_t(nf0_1, nf1_1, min, max));
Pierre Fernbach's avatar
Pierre Fernbach committed
570
571
  cp2.contactNormalForces().insert(
      std::pair<std::string, curve_ptr_t>("right_leg", force1d_1));  // should not have any effect only const getter
Pierre Fernbach's avatar
Pierre Fernbach committed
572
  BOOST_CHECK(cp2.contactNormalForces().count("right_leg") == 0);
Pierre Fernbach's avatar
Pierre Fernbach committed
573
  cp2.contactNormalForces().erase("left_leg");  // should not have any effect
Pierre Fernbach's avatar
Pierre Fernbach committed
574
  BOOST_CHECK((*cp2.contactNormalForces("left_leg"))(min) == nf0);
Pierre Fernbach's avatar
Pierre Fernbach committed
575
576
577
578
579
  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
  BOOST_CHECK_THROW(cp2.addContactNormalForceTrajectory("left_leg", force12d),
                    std::invalid_argument);  // should be of dimension 1
580

Pierre Fernbach's avatar
Pierre Fernbach committed
581
  // Check effector trajectory :
582
  curve_SE3_ptr_t effR = buildPiecewiseSE3();
Pierre Fernbach's avatar
Pierre Fernbach committed
583
  newTraj = cp2.addEffectorTrajectory("right_leg", effR);
Pierre Fernbach's avatar
Pierre Fernbach committed
584
  BOOST_CHECK(newTraj);
Pierre Fernbach's avatar
Pierre Fernbach committed
585
  newTraj = cp2.addEffectorTrajectory("right_leg", effR);
Pierre Fernbach's avatar
Pierre Fernbach committed
586
587
588
589
590
591
592
  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)));
Pierre Fernbach's avatar
Pierre Fernbach committed
593
594
595
596
  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
Pierre Fernbach's avatar
Pierre Fernbach committed
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614

  // 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;
  */

Pierre Fernbach's avatar
Pierre Fernbach committed
615
616
617
618
619
620
621
622
623
624
625
626
  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();
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
  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
651
652

  // check adding trajectory to public members :
Pierre Fernbach's avatar
Pierre Fernbach committed
653
654
655
656
657
658
659
660
661
662
663
664
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
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
  /*
    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;
    curve_SE3_ptr_t m_root;
    */
  {  // 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();
    curve_SE3_ptr_t root = buildRandomSE3LinearTraj(1, 5.5);
    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
717
  }
Pierre Fernbach's avatar
Pierre Fernbach committed
718
719
720
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
  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

  // add more contact and trajectories :
  cp2.addContact("right_hand", ContactPatch(SE3::Identity().setRandom()));
  cp2.addContactForceTrajectory("right_hand", buildRandomPolynomial12D());
  cp2.addContactNormalForceTrajectory("right_hand", buildRandomPolynomial1D());
747
  int num_ctc = 0;
Pierre Fernbach's avatar
Pierre Fernbach committed
748
749
  for (ContactPhase::CurveMap_t::const_iterator mit = cp2.contactForces().begin(); mit != cp2.contactForces().end();
       ++mit) {
750
    BOOST_CHECK(mit->first == "right_hand" || mit->first == "left_leg");
Pierre Fernbach's avatar
Pierre Fernbach committed
751
    num_ctc++;
752
753
754
  }
  BOOST_CHECK(num_ctc == 2);

Pierre Fernbach's avatar
Pierre Fernbach committed
755
  curve_SE3_ptr_t eff_knee(buildRandomSE3LinearTraj(cp2.timeInitial(), cp2.timeFinal()));
756
757
  double min_knee = eff_knee->min();
  double max_knee = eff_knee->max();
Pierre Fernbach's avatar
Pierre Fernbach committed
758
  newTraj = cp2.addEffectorTrajectory("knee", eff_knee);
759
760
761
762
763
764
765
766
  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;
767
  const ContactPhase::CurveSE3Map_t trajMap = cp2.effectorTrajectories();
Pierre Fernbach's avatar
Pierre Fernbach committed
768
  for (ContactPhase::CurveSE3Map_t::const_iterator mit = trajMap.begin(); mit != trajMap.end(); ++mit) {
769
    BOOST_CHECK(mit->first == "knee" || mit->first == "right_leg");
Pierre Fernbach's avatar
Pierre Fernbach committed
770
    num_eff_traj++;
771
772
773
774
775
776
  }
  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"));
777

778
  // check copy constructor and operator ==
779
780
781
782
783
  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
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
  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);
Pierre Fernbach's avatar
Pierre Fernbach committed
808
809
810
811
812
813
814
815
816
817
818
  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()));
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
  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
835
836
  pointX_t p = point3_t::Random();
  cp5.m_c_init = p;
837
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
838
  BOOST_CHECK(cp5.m_c_init == p);
839
840
841
  BOOST_CHECK(cp2.m_c_init != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
842
843
  p = point3_t::Random();
  cp5.m_dc_init = p;
844
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
845
  BOOST_CHECK(cp5.m_dc_init == p);
846
847
848
  BOOST_CHECK(cp2.m_dc_init != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
849
850
  p = point3_t::Random();
  cp5.m_ddc_init = p;
851
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
852
  BOOST_CHECK(cp5.m_ddc_init == p);
853
854
855
  BOOST_CHECK(cp2.m_ddc_init != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
856
857
  p = point3_t::Random();
  cp5.m_L_init = p;
858
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
859
  BOOST_CHECK(cp5.m_L_init == p);
860
861
862
  BOOST_CHECK(cp2.m_L_init != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
863
864
  p = point3_t::Random();
  cp5.m_dL_init = p;
865
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
866
  BOOST_CHECK(cp5.m_dL_init == p);
867
868
869
  BOOST_CHECK(cp2.m_dL_init != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
870
871
  p = point12_t::Random();
  cp5.m_q_init = p;
872
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
873
  BOOST_CHECK(cp5.m_q_init == p);
874
875
876
  BOOST_CHECK(cp2.m_q_init != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
877
878
  p = point3_t::Random();
  cp5.m_c_final = p;
879
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
880
  BOOST_CHECK(cp5.m_c_final == p);
881
882
883
  BOOST_CHECK(cp2.m_c_final != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
884
885
  p = point3_t::Random();
  cp5.m_dc_final = p;
886
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
887
  BOOST_CHECK(cp5.m_dc_final == p);
888
889
890
  BOOST_CHECK(cp2.m_dc_final != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
891
892
  p = point3_t::Random();
  cp5.m_ddc_final = p;
893
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
894
  BOOST_CHECK(cp5.m_ddc_final == p);
895
896
897
  BOOST_CHECK(cp2.m_ddc_final != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
898
899
  p = point3_t::Random();
  cp5.m_L_final = p;
900
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
901
  BOOST_CHECK(cp5.m_L_final == p);
902
903
904
  BOOST_CHECK(cp2.m_L_final != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
905
906
  p = point3_t::Random();
  cp5.m_dL_final = p;
907
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
908
  BOOST_CHECK(cp5.m_dL_final == p);
909
910
911
  BOOST_CHECK(cp2.m_dL_final != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
912
913
  p = point12_t::Random();
  cp5.m_q_final = p;
914
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
915
  BOOST_CHECK(cp5.m_q_final == p);
916
917
918
  BOOST_CHECK(cp2.m_q_final != p);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
919

Pierre Fernbach's avatar
Pierre Fernbach committed
920
921
922
  curve_ptr_t curve;
  curve = buildRandomPolynomial12D();
  cp5.m_q = curve;
923
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
924
  BOOST_CHECK(cp5.m_q == curve);
925
926
927
  BOOST_CHECK(cp2.m_q != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
928
929
  curve = buildRandomPolynomial12D();
  cp5.m_dq = curve;
930
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
931
  BOOST_CHECK(cp5.m_dq == curve);
932
933
934
  BOOST_CHECK(cp2.m_dq != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
935
936
  curve = buildRandomPolynomial12D();
  cp5.m_ddq = curve;
937
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
938
  BOOST_CHECK(cp5.m_ddq == curve);
939
940
941
  BOOST_CHECK(cp2.m_ddq != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
942
943
  curve = buildRandomPolynomial12D();
  cp5.m_tau = curve;
944
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
945
  BOOST_CHECK(cp5.m_tau == curve);
946
947
948
  BOOST_CHECK(cp2.m_tau != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
949
950
  curve = buildRandomPolynomial3D();
  cp5.m_c = curve;
951
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
952
  BOOST_CHECK(cp5.m_c == curve);
953
954
955
  BOOST_CHECK(cp2.m_c != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
956
957
  curve = buildRandomPolynomial3D();
  cp5.m_dc = curve;
958
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
959
  BOOST_CHECK(cp5.m_dc == curve);
960
961
962
  BOOST_CHECK(cp2.m_dc != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
963
964
  curve = buildRandomPolynomial3D();
  cp5.m_ddc = curve;
965
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
966
  BOOST_CHECK(cp5.m_ddc == curve);
967
968
969
  BOOST_CHECK(cp2.m_ddc != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
970
971
  curve = buildRandomPolynomial3D();
  cp5.m_L = curve;
972
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
973
  BOOST_CHECK(cp5.m_L == curve);
974
975
976
  BOOST_CHECK(cp2.m_L != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
977
978
  curve = buildRandomPolynomial3D();
  cp5.m_dL = curve;
979
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
980
  BOOST_CHECK(cp5.m_dL == curve);
981
982
983
  BOOST_CHECK(cp2.m_dL != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
984
985
  curve = buildRandomPolynomial3D();
  cp5.m_wrench = curve;
986
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
987
  BOOST_CHECK(cp5.m_wrench == curve);
988
989
990
  BOOST_CHECK(cp2.m_wrench != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
991
992
  curve = buildRandomPolynomial3D();
  cp5.m_zmp = curve;
993
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
994
  BOOST_CHECK(cp5.m_zmp == curve);
995
996
997
  BOOST_CHECK(cp2.m_zmp != curve);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
998
  curve_SE3_ptr_t curveSE3 = buildRandomSE3LinearTraj(1.5, 2.9);
Pierre Fernbach's avatar
Pierre Fernbach committed
999
  cp5.m_root = curveSE3;
1000
  BOOST_CHECK(cp5 != cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
1001
  BOOST_CHECK(cp5.m_root == curveSE3);
1002
1003
1004
1005
1006
1007
1008
1009
  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);
Pierre Fernbach's avatar
Pierre Fernbach committed
1010
  cp5.addContact("test", ContactPatch(SE3::Identity().setRandom()));
1011
1012
1013
  BOOST_CHECK(cp5 != cp2);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
1014
  cp5.addEffectorTrajectory("knee", buildRandomSE3LinearTraj(cp5.timeInitial(), cp5.timeFinal()));
1015
1016
1017
  BOOST_CHECK(cp5 != cp2);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
1018
  cp5.addContactForceTrajectory("left_leg", buildRandomPolynomial12D());
1019
1020
1021
  BOOST_CHECK(cp5 != cp2);
  cp5 = cp2;
  BOOST_CHECK(cp5 == cp2);
Pierre Fernbach's avatar
Pierre Fernbach committed
1022
  cp5.addContactNormalForceTrajectory("left_leg", buildRandomPolynomial1D());
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
  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 :
Pierre Fernbach's avatar
Pierre Fernbach committed
1033
  cp5.addContact("right_leg", patchR);
1034
1035
  BOOST_CHECK(cp5.effectorTrajectories().count("right_leg") == 0);

Pierre Fernbach's avatar
Pierre Fernbach committed
1036
  // check serialization
1037
  std::string fileName("fileTest");
Pierre Fernbach's avatar
Pierre Fernbach committed
1038
1039
  ContactPhase cp_from_txt, cp_from_xml, cp_from_bin;
  std::cout << "cp2 before serialization : " << std::endl << cp2 << std::endl;
1040

Pierre Fernbach's avatar
Pierre Fernbach committed
1041
1042
  cp2.saveAsText(fileName + ".txt");
  cp_from_txt.loadFromText(fileName + ".txt");
1043
  BOOST_CHECK(cp2 == cp_from_txt);
Pierre Fernbach's avatar
Pierre Fernbach committed
1044
  std::cout << "cp2 after deserialization : " << std::endl << cp_from_txt << std::endl;
1045

Pierre Fernbach's avatar
Pierre Fernbach committed
1046
1047
  cp2.saveAsXML(fileName + ".xml", "ContactPhase");
  cp_from_xml.loadFromXML(fileName + ".xml", "ContactPhase");
1048
1049
1050
1051
1052
1053
  BOOST_CHECK(cp2 == cp_from_xml);

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

Pierre Fernbach's avatar
Pierre Fernbach committed
1054
  explicitContactPhaseAssertEqual(cp2, cp_from_txt);
1055
}
Pierre Fernbach's avatar
Pierre Fernbach committed
1056

1057
BOOST_AUTO_TEST_CASE(contact_phase_helpers_tarjectories) {
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
  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);

  // check COM trajectory :
  ContactPhase cp;
Pierre Fernbach's avatar
Pierre Fernbach committed
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
  cp.setCOMtrajectoryFromPoints(points, points_derivative, points_second_derivative, time_