From d9def00fab16ec6f543a78fd3b9ea8bd279e21ea Mon Sep 17 00:00:00 2001
From: mnaveau <maximilien.naveau@laas.fr>
Date: Wed, 12 Oct 2016 11:12:35 +0200
Subject: [PATCH] add test for going down 10cm height stairs and 15cm height
stairs.
---
tests/CMakeLists.txt | 11 ++---
tests/TestMorisawa2007.cpp | 87 ++++++++++++++++++++++++++++++--------
2 files changed, 75 insertions(+), 23 deletions(-)
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index bda7f670..a2c0be61 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -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 #
diff --git a/tests/TestMorisawa2007.cpp b/tests/TestMorisawa2007.cpp
index 549438ef..acf61bc0 100644
--- a/tests/TestMorisawa2007.cpp
+++ b/tests/TestMorisawa2007.cpp
@@ -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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