From 0042976e86a7b405297d4ad6a335b6c064b19bb4 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 2 Aug 2016 11:48:50 +0200
Subject: [PATCH] [C++] Update unit tests
---
unittest/compute-all-terms.cpp | 8 ++++----
unittest/finite-differences.cpp | 2 +-
unittest/frames.cpp | 4 ++--
unittest/geom.cpp | 10 +++++-----
unittest/jacobian.cpp | 8 ++++----
unittest/joint-configurations.cpp | 6 +++---
6 files changed, 19 insertions(+), 19 deletions(-)
diff --git a/unittest/compute-all-terms.cpp b/unittest/compute-all-terms.cpp
index ab96ecb54..368db7155 100644
--- a/unittest/compute-all-terms.cpp
+++ b/unittest/compute-all-terms.cpp
@@ -73,7 +73,7 @@ BOOST_AUTO_TEST_CASE ( test_against_algo )
BOOST_CHECK (data.J.isApprox(data_other.J, 1e-12));
BOOST_CHECK (data.Jcom.isApprox(data_other.Jcom, 1e-12));
- for (int k=0; k<model.nbody; ++k)
+ for (int k=0; k<model.njoint; ++k)
{
BOOST_CHECK (data.com[(size_t)k].isApprox(data_other.com[(size_t)k], 1e-12));
BOOST_CHECK (data.vcom[(size_t)k].isApprox(data_other.vcom[(size_t)k], 1e-12));
@@ -103,7 +103,7 @@ BOOST_AUTO_TEST_CASE ( test_against_algo )
BOOST_CHECK (data.J.isApprox(data_other.J, 1e-12));
BOOST_CHECK (data.Jcom.isApprox(data_other.Jcom, 1e-12));
- for (int k=0; k<model.nbody; ++k)
+ for (int k=0; k<model.njoint; ++k)
{
BOOST_CHECK (data.com[(size_t)k].isApprox(data_other.com[(size_t)k], 1e-12));
BOOST_CHECK (data.vcom[(size_t)k].isApprox(data_other.vcom[(size_t)k], 1e-12));
@@ -134,7 +134,7 @@ BOOST_AUTO_TEST_CASE ( test_against_algo )
BOOST_CHECK (data.J.isApprox(data_other.J, 1e-12));
BOOST_CHECK (data.Jcom.isApprox(data_other.Jcom, 1e-12));
- for (int k=0; k<model.nbody; ++k)
+ for (int k=0; k<model.njoint; ++k)
{
BOOST_CHECK (data.com[(size_t)k].isApprox(data_other.com[(size_t)k], 1e-12));
BOOST_CHECK (data.vcom[(size_t)k].isApprox(data_other.vcom[(size_t)k], 1e-12));
@@ -165,7 +165,7 @@ BOOST_AUTO_TEST_CASE ( test_against_algo )
BOOST_CHECK (data.J.isApprox(data_other.J, 1e-12));
BOOST_CHECK (data.Jcom.isApprox(data_other.Jcom, 1e-12));
- for (int k=0; k<model.nbody; ++k)
+ for (int k=0; k<model.njoint; ++k)
{
BOOST_CHECK (data.com[(size_t)k].isApprox(data_other.com[(size_t)k], 1e-12));
BOOST_CHECK (data.vcom[(size_t)k].isApprox(data_other.vcom[(size_t)k], 1e-12));
diff --git a/unittest/finite-differences.cpp b/unittest/finite-differences.cpp
index cf87062eb..c361be568 100644
--- a/unittest/finite-differences.cpp
+++ b/unittest/finite-differences.cpp
@@ -160,7 +160,7 @@ BOOST_AUTO_TEST_CASE (test_jacobian_vs_finit_diff)
q.segment<4>(3).normalize();
computeJacobians(model,data,q);
- Model::Index idx = model.existJointName("rarm2")?model.getJointId("rarm2"):(Model::Index)(model.nbody-1);
+ Model::Index idx = model.existJointName("rarm2")?model.getJointId("rarm2"):(Model::Index)(model.njoint-1);
Data::Matrix6x Jrh(6,model.nv); Jrh.fill(0);
getJacobian<false>(model,data,idx,Jrh);
diff --git a/unittest/frames.cpp b/unittest/frames.cpp
index ff32af394..1b305cf0d 100644
--- a/unittest/frames.cpp
+++ b/unittest/frames.cpp
@@ -39,7 +39,7 @@ BOOST_AUTO_TEST_CASE ( test_kinematics )
se3::Model model;
se3::buildModels::humanoidSimple(model);
- Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.nbody-1);
+ Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoint-1);
const std::string & frame_name = std::string( model.getJointName(parent_idx)+ "_frame");
const SE3 & framePlacement = SE3::Random();
model.addFrame(frame_name, parent_idx, framePlacement);
@@ -61,7 +61,7 @@ BOOST_AUTO_TEST_CASE ( test_jacobian )
Model model;
buildModels::humanoidSimple(model);
- Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.nbody-1);
+ Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoint-1);
const std::string & frame_name = std::string( model.getJointName(parent_idx)+ "_frame");
const SE3 & framePlacement = SE3::Random();
model.addFrame(frame_name, parent_idx, framePlacement);
diff --git a/unittest/geom.cpp b/unittest/geom.cpp
index 71e827b1d..dc9b53ed5 100644
--- a/unittest/geom.cpp
+++ b/unittest/geom.cpp
@@ -47,7 +47,7 @@ typedef std::map <std::string, se3::SE3> PositionsMap_t;
typedef std::map <std::string, se3::SE3> JointPositionsMap_t;
typedef std::map <std::string, se3::SE3> GeometryPositionsMap_t;
typedef std::map <std::pair < std::string , std::string >, fcl::DistanceResult > PairDistanceMap_t;
-JointPositionsMap_t fillPinocchioJointPositions(const se3::Data & data);
+JointPositionsMap_t fillPinocchioJointPositions(const se3::Model& model, const se3::Data & data);
GeometryPositionsMap_t fillPinocchioGeometryPositions(const se3::GeometryData & data_geom);
#ifdef WITH_HPP_MODEL_URDF
JointPositionsMap_t fillHppJointPositions(const hpp::model::HumanoidRobotPtr_t robot);
@@ -346,7 +346,7 @@ BOOST_AUTO_TEST_CASE ( romeo_joints_meshes_positions )
/// ********** COMPARISON ********* ///
/// ********************************* ///
// retrieve all joint and geometry objects positions
- JointPositionsMap_t joints_pin = fillPinocchioJointPositions(data);
+ JointPositionsMap_t joints_pin = fillPinocchioJointPositions(model, data);
JointPositionsMap_t joints_hpp = fillHppJointPositions(humanoidRobot);
GeometryPositionsMap_t geom_pin = fillPinocchioGeometryPositions(data_geom);
GeometryPositionsMap_t geom_hpp = fillHppGeometryPositions(humanoidRobot);
@@ -489,12 +489,12 @@ BOOST_AUTO_TEST_CASE ( hrp2_mesh_distance)
#endif
BOOST_AUTO_TEST_SUITE_END ()
-JointPositionsMap_t fillPinocchioJointPositions(const se3::Data & data)
+JointPositionsMap_t fillPinocchioJointPositions(const se3::Model& model, const se3::Data & data)
{
JointPositionsMap_t result;
- for (se3::Model::Index i = 0; i < (se3::Model::Index)data.model.nbody; ++i)
+ for (se3::Model::Index i = 0; i < (se3::Model::Index)model.njoint; ++i)
{
- result[data.model.getJointName(i)] = data.oMi[i];
+ result[model.getJointName(i)] = data.oMi[i];
}
return result;
}
diff --git a/unittest/jacobian.cpp b/unittest/jacobian.cpp
index ff3c9dfd2..9c6e4b855 100644
--- a/unittest/jacobian.cpp
+++ b/unittest/jacobian.cpp
@@ -43,7 +43,7 @@ BOOST_AUTO_TEST_CASE ( test_jacobian )
VectorXd q = VectorXd::Zero(model.nq);
computeJacobians(model,data,q);
- Model::Index idx = model.existJointName("rarm2")?model.getJointId("rarm2"):(Model::Index)(model.nbody-1);
+ Model::Index idx = model.existJointName("rarm2")?model.getJointId("rarm2"):(Model::Index)(model.njoint-1);
Data::Matrix6x Jrh(6,model.nv); Jrh.fill(0);
getJacobian<false>(model,data,idx,Jrh);
@@ -110,7 +110,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
if( flag >> 1 & 1 )
{
computeJacobians(model,data,q);
- Model::Index idx = model.existJointName("rarm6")?model.getJointId("rarm6"):(Model::Index)(model.nbody-1);
+ Model::Index idx = model.existJointName("rarm6")?model.getJointId("rarm6"):(Model::Index)(model.njoint-1);
Data::Matrix6x Jrh(6,model.nv); Jrh.fill(0);
timer.tic();
@@ -125,7 +125,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
if( flag >> 2 & 1 )
{
computeJacobians(model,data,q);
- Model::Index idx = model.existJointName("rarm6")?model.getJointId("rarm6"):(Model::Index)(model.nbody-1);
+ Model::Index idx = model.existJointName("rarm6")?model.getJointId("rarm6"):(Model::Index)(model.njoint-1);
Data::Matrix6x Jrh(6,model.nv); Jrh.fill(0);
timer.tic();
@@ -140,7 +140,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
if( flag >> 3 & 1 )
{
computeJacobians(model,data,q);
- Model::Index idx = model.existJointName("rarm6")?model.getJointId("rarm6"):(Model::Index)(model.nbody-1);
+ Model::Index idx = model.existJointName("rarm6")?model.getJointId("rarm6"):(Model::Index)(model.njoint-1);
Data::Matrix6x Jrh(6,model.nv); Jrh.fill(0);
timer.tic();
diff --git a/unittest/joint-configurations.cpp b/unittest/joint-configurations.cpp
index c33831f8c..e4308c52d 100644
--- a/unittest/joint-configurations.cpp
+++ b/unittest/joint-configurations.cpp
@@ -369,7 +369,7 @@ BOOST_AUTO_TEST_CASE ( distance_computation_test )
Eigen::Quaterniond quat_ff_2(q2[6],q2[3],q2[4],q2[5]);
Eigen::Quaterniond quat_spherical_2(q2[10],q2[7],q2[8],q2[9]);
- Eigen::VectorXd expected(model.nbody-1);
+ Eigen::VectorXd expected(model.njoint-1);
// Quaternion freeflyer
// Compute rotation vector between q2 and q1.
@@ -408,14 +408,14 @@ BOOST_AUTO_TEST_CASE ( distance_computation_test )
// Test Case 1 : Distance between two zero configs
//
Eigen::VectorXd q_zero(Eigen::VectorXd::Zero(model.nq));
- expected = Eigen::VectorXd::Zero(model.nbody-1);
+ expected = Eigen::VectorXd::Zero(model.njoint-1);
result = distance(model,q_zero,q_zero);
BOOST_CHECK_MESSAGE(result.isApprox(expected, 1e-12), "Distance between two zero configs of full model - wrong results");
//
// Test Case 2 : Distance between two same configs
//
- expected = Eigen::VectorXd::Zero(model.nbody-1);
+ expected = Eigen::VectorXd::Zero(model.njoint-1);
result = distance(model,q1,q1);
BOOST_CHECK_MESSAGE(result.isApprox(expected, 1e-12), "Distance between two same configs of full model - wrong results");
--
GitLab