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Commit d9def00f authored by mnaveau's avatar mnaveau
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add test for going down 10cm height stairs and 15cm height stairs.

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tests/CMakeLists.txt
+ 6
− 5
View file @ d9def00f
......@@ -153,12 +153,13 @@ ENDMACRO(ADD_JRL_WALKGEN_EXE)
# the following disabled test case are just useful code for offline
# motion generation using the specialized inverse kinmatics of a robot
ADD_JRL_WALKGEN_EXE(TestMorisawa2007ShortWalk TestMorisawa2007.cpp)
#ADD_JRL_WALKGEN_EXE(TestMorisawa2007ShortWalk TestMorisawa2007.cpp)
ADD_JRL_WALKGEN_EXE(TestMorisawa2007Climbing TestMorisawa2007.cpp)
ADD_JRL_WALKGEN_EXE(TestMorisawa2007GoingDown TestMorisawa2007.cpp)
ADD_JRL_WALKGEN_EXE(TestMorisawa2007SteppingStones TestMorisawa2007.cpp)
ADD_JRL_WALKGEN_EXE(TestMorisawa2007WalkingOnBeam TestMorisawa2007.cpp)
ADD_JRL_WALKGEN_EXE(TestMorisawa2007GoThroughWall TestMorisawa2007.cpp)
ADD_JRL_WALKGEN_EXE(TestMorisawa2007GoingDown10 TestMorisawa2007.cpp)
ADD_JRL_WALKGEN_EXE(TestMorisawa2007GoingDown15 TestMorisawa2007.cpp)
#ADD_JRL_WALKGEN_EXE(TestMorisawa2007SteppingStones TestMorisawa2007.cpp)
#ADD_JRL_WALKGEN_EXE(TestMorisawa2007WalkingOnBeam TestMorisawa2007.cpp)
#ADD_JRL_WALKGEN_EXE(TestMorisawa2007GoThroughWall TestMorisawa2007.cpp)
####################
## Test Herdt 2010 #
......
tests/TestMorisawa2007.cpp
+ 69
− 18
View file @ d9def00f
......@@ -36,10 +36,11 @@ enum Profiles_t {
PROFIL_ANALYTICAL_ONLINE_WALKING, // 1
PROFIL_ANALYTICAL_SHORT_STRAIGHT_WALKING, // 2
PROFIL_ANALYTICAL_CLIMBING_STAIRS, // 3
PROFIL_ANALYTICAL_GOING_DOWN_STAIRS, // 4
PROFIL_ANALYTICAL_STEPPING_STONES, // 5
PROFIL_ANALYTICAL_WALKING_ON_BEAM, // 6
PROFIL_ANALYTICAL_GO_THROUGH_WALL // 7
PROFIL_ANALYTICAL_GOING_DOWN_STAIRS_10, // 4
PROFIL_ANALYTICAL_GOING_DOWN_STAIRS_15, // 5
PROFIL_ANALYTICAL_STEPPING_STONES, // 6
PROFIL_ANALYTICAL_WALKING_ON_BEAM, // 7
PROFIL_ANALYTICAL_GO_THROUGH_WALL // 8
};
#define NBOFPREDEFONLINEFOOTSTEPS 11
......@@ -204,7 +205,7 @@ protected:
}
void AnalyticalGoingDownStairs(PatternGeneratorInterface &aPGI)
void AnalyticalGoingDownStairs15(PatternGeneratorInterface &aPGI)
{
CommonInitialization(aPGI);
{
......@@ -241,6 +242,47 @@ protected:
}
}
void AnalyticalGoingDownStairs10(PatternGeneratorInterface &aPGI)
{
CommonInitialization(aPGI);
{
istringstream strm2(":SetAlgoForZmpTrajectory Morisawa");
aPGI.ParseCmd(strm2);
}
{
istringstream strm2(":singlesupporttime 1.6");
aPGI.ParseCmd(strm2);
}
{
istringstream strm2(":doublesupporttime 0.2");
aPGI.ParseCmd(strm2);
}
{
istringstream strm2(":stepstairseq 0.0 -0.105 0.0 0.0\
0.30 0.19 -0.10 0.0\
0.0 -0.19 0.0 0.0\
0.30 0.19 -0.10 0.0\
0.0 -0.19 0.0 0.0\
0.30 0.19 -0.10 0.0\
0.0 -0.19 0.0 0.0\
0.30 0.19 -0.10 0.0\
0.0 -0.19 0.0 0.0\
0.30 0.19 -0.10 0.0\
0.0 -0.19 0.0 0.0\
0.30 0.19 -0.10 0.0\
0.0 -0.19 0.0 0.0\
");
aPGI.ParseCmd(strm2);
}
{
istringstream strm2(":useDynamicFilter false");
aPGI.ParseCmd(strm2);
}
}
void AnalyticalSteppingStones(PatternGeneratorInterface &aPGI)
{
CommonInitialization(aPGI);
......@@ -453,8 +495,12 @@ protected:
AnalyticalClimbingStairs(*m_PGI);
break;
case PROFIL_ANALYTICAL_GOING_DOWN_STAIRS:
AnalyticalGoingDownStairs(*m_PGI);
case PROFIL_ANALYTICAL_GOING_DOWN_STAIRS_10:
AnalyticalGoingDownStairs10(*m_PGI);
break;
case PROFIL_ANALYTICAL_GOING_DOWN_STAIRS_15:
AnalyticalGoingDownStairs15(*m_PGI);
break;
case PROFIL_ANALYTICAL_STEPPING_STONES:
......@@ -486,7 +532,9 @@ protected:
return;
if (m_TestProfile==PROFIL_ANALYTICAL_CLIMBING_STAIRS)
return;
if (m_TestProfile==PROFIL_ANALYTICAL_GOING_DOWN_STAIRS)
if (m_TestProfile==PROFIL_ANALYTICAL_GOING_DOWN_STAIRS_10)
return;
if (m_TestProfile==PROFIL_ANALYTICAL_GOING_DOWN_STAIRS_15)
return;
if (m_TestProfile==PROFIL_ANALYTICAL_STEPPING_STONES)
return;
......@@ -576,10 +624,11 @@ int PerformTests(int argc, char *argv[])
std::string CompleteName = string(argv[0]);
unsigned found = CompleteName.find_last_of("/\\");
std::string TestName = CompleteName.substr(found+1);
int TestProfiles[7] = { PROFIL_ANALYTICAL_ONLINE_WALKING,
int TestProfiles[8] = { PROFIL_ANALYTICAL_ONLINE_WALKING,
PROFIL_ANALYTICAL_SHORT_STRAIGHT_WALKING,
PROFIL_ANALYTICAL_CLIMBING_STAIRS,
PROFIL_ANALYTICAL_GOING_DOWN_STAIRS,
PROFIL_ANALYTICAL_GOING_DOWN_STAIRS_10,
PROFIL_ANALYTICAL_GOING_DOWN_STAIRS_15,
PROFIL_ANALYTICAL_STEPPING_STONES,
PROFIL_ANALYTICAL_WALKING_ON_BEAM,
PROFIL_ANALYTICAL_GO_THROUGH_WALL
......@@ -587,19 +636,21 @@ int PerformTests(int argc, char *argv[])
int indexProfile=-1;
if (TestName.compare(16,6,"OnLine")==0)
indexProfile=0;
indexProfile=PROFIL_ANALYTICAL_ONLINE_WALKING;
if (TestName.compare(16,9,"ShortWalk")==0)
indexProfile=1;
indexProfile=PROFIL_ANALYTICAL_SHORT_STRAIGHT_WALKING;
if (TestName.compare(16,8,"Climbing")==0)
indexProfile=2;
if (TestName.compare(16,9,"GoingDown")==0)
indexProfile=3;
indexProfile=PROFIL_ANALYTICAL_CLIMBING_STAIRS;
if (TestName.compare(16,11,"GoingDown10")==0)
indexProfile=PROFIL_ANALYTICAL_GOING_DOWN_STAIRS_10;
if (TestName.compare(16,11,"GoingDown15")==0)
indexProfile=PROFIL_ANALYTICAL_GOING_DOWN_STAIRS_15;
if (TestName.compare(16,14,"SteppingStones")==0)
indexProfile=4;
indexProfile=PROFIL_ANALYTICAL_STEPPING_STONES;
if (TestName.compare(16,13,"WalkingOnBeam")==0)
indexProfile=5;
indexProfile=PROFIL_ANALYTICAL_WALKING_ON_BEAM;
if (TestName.compare(16,13,"GoThroughWall")==0)
indexProfile=6;
indexProfile=PROFIL_ANALYTICAL_GO_THROUGH_WALL;
if (indexProfile==-1)
......
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