void check_self_consistency(SkeletonPtr skeleton)
{
for(size_t i=0; i<skeleton->getNumBodyNodes(); ++i)
{
BodyNode* bn = skeleton->getBodyNode(i);
EXPECT_TRUE(bn->getIndexInSkeleton() == i);
EXPECT_TRUE(skeleton->getBodyNode(bn->getName()) == bn);
Joint* joint = bn->getParentJoint();
EXPECT_TRUE(skeleton->getJoint(joint->getName()) == joint);
for(size_t j=0; j<joint->getNumDofs(); ++j)
{
DegreeOfFreedom* dof = joint->getDof(j);
EXPECT_TRUE(dof->getIndexInJoint() == j);
EXPECT_TRUE(skeleton->getDof(dof->getName()) == dof);
}
}
for(size_t i=0; i<skeleton->getNumDofs(); ++i)
{
DegreeOfFreedom* dof = skeleton->getDof(i);
EXPECT_TRUE(dof->getIndexInSkeleton() == i);
EXPECT_TRUE(skeleton->getDof(dof->getName()) == dof);
}
}
SkeletonPtr createWall()
{
SkeletonPtr wall = Skeleton::create("wall");
BodyNode* bn = wall->createJointAndBodyNodePair<WeldJoint>().second;
std::shared_ptr<BoxShape> shape = std::make_shared<BoxShape>(
Eigen::Vector3d(default_wall_thickness, default_ground_width,
default_wall_height));
auto shapeNode
= bn->createShapeNodeWith<VisualAddon, CollisionAddon, DynamicsAddon>(shape);
shapeNode->getVisualAddon()->setColor(Eigen::Vector3d(0.8, 0.8, 0.8));
Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());
tf.translation() = Eigen::Vector3d(
(default_ground_width + default_wall_thickness)/2.0, 0.0,
(default_wall_height - default_wall_thickness)/2.0);
bn->getParentJoint()->setTransformFromParentBodyNode(tf);
bn->setRestitutionCoeff(0.2);
return wall;
}
//==============================================================================
void SoftDynamicsTest::compareEquationsOfMotion(const std::string& _fileName)
{
using namespace std;
using namespace Eigen;
using namespace dart;
using namespace math;
using namespace dynamics;
using namespace simulation;
using namespace utils;
//---------------------------- Settings --------------------------------------
// Number of random state tests for each skeletons
#ifndef NDEBUG // Debug mode
size_t nRandomItr = 1;
#else
size_t nRandomItr = 1;
#endif
// Lower and upper bound of configuration for system
double lb = -1.5 * DART_PI;
double ub = 1.5 * DART_PI;
// Lower and upper bound of joint damping and stiffness
double lbD = 0.0;
double ubD = 10.0;
double lbK = 0.0;
double ubK = 10.0;
simulation::World* myWorld = NULL;
//----------------------------- Tests ----------------------------------------
// Check whether multiplication of mass matrix and its inverse is identity
// matrix.
myWorld = utils::SkelParser::readWorld(_fileName);
EXPECT_TRUE(myWorld != NULL);
for (size_t i = 0; i < myWorld->getNumSkeletons(); ++i)
{
dynamics::Skeleton* skel = myWorld->getSkeleton(i);
dynamics::Skeleton* softSkel
= dynamic_cast<dynamics::Skeleton*>(skel);
int dof = skel->getNumDofs();
// int nBodyNodes = skel->getNumBodyNodes();
int nSoftBodyNodes = 0;
if (softSkel != NULL)
nSoftBodyNodes = softSkel->getNumSoftBodyNodes();
if (dof == 0)
{
dtmsg << "Skeleton [" << skel->getName() << "] is skipped since it has "
<< "0 DOF." << endl;
continue;
}
for (size_t j = 0; j < nRandomItr; ++j)
{
// Random joint stiffness and damping coefficient
for (size_t k = 0; k < skel->getNumBodyNodes(); ++k)
{
BodyNode* body = skel->getBodyNode(k);
Joint* joint = body->getParentJoint();
int localDof = joint->getNumDofs();
for (int l = 0; l < localDof; ++l)
{
joint->setDampingCoefficient(l, random(lbD, ubD));
joint->setSpringStiffness (l, random(lbK, ubK));
double lbRP = joint->getPositionLowerLimit(l);
double ubRP = joint->getPositionUpperLimit(l);
joint->setRestPosition (l, random(lbRP, ubRP));
}
}
// Set random states
VectorXd x = skel->getState();
for (int k = 0; k < x.size(); ++k)
x[k] = random(lb, ub);
skel->setState(x);
skel->computeForwardKinematics(true, true, false);
//------------------------ Mass Matrix Test ----------------------------
// Get matrices
MatrixXd M = skel->getMassMatrix();
MatrixXd M2 = getMassMatrix(skel);
MatrixXd InvM = skel->getInvMassMatrix();
MatrixXd M_InvM = M * InvM;
MatrixXd InvM_M = InvM * M;
MatrixXd AugM = skel->getAugMassMatrix();
MatrixXd AugM2 = getAugMassMatrix(skel);
MatrixXd InvAugM = skel->getInvAugMassMatrix();
MatrixXd AugM_InvAugM = AugM * InvAugM;
MatrixXd InvAugM_AugM = InvAugM * AugM;
MatrixXd I = MatrixXd::Identity(dof, dof);
// Check if the number of generalized coordinates and dimension of mass
// matrix are same.
EXPECT_EQ(M.rows(), dof);
EXPECT_EQ(M.cols(), dof);
// Check mass matrix
EXPECT_TRUE(equals(M, M2, 1e-6));
if (!equals(M, M2, 1e-6))
{
cout << "M :" << endl << M << endl << endl;
cout << "M2:" << endl << M2 << endl << endl;
}
// Check augmented mass matrix
EXPECT_TRUE(equals(AugM, AugM2, 1e-6));
if (!equals(AugM, AugM2, 1e-6))
{
cout << "AugM :" << endl << AugM << endl << endl;
cout << "AugM2:" << endl << AugM2 << endl << endl;
}
// Check if both of (M * InvM) and (InvM * M) are identity.
EXPECT_TRUE(equals(M_InvM, I, 1e-6));
if (!equals(M_InvM, I, 1e-6))
{
cout << "InvM :" << endl << InvM << endl << endl;
}
EXPECT_TRUE(equals(InvM_M, I, 1e-6));
if (!equals(InvM_M, I, 1e-6))
{
cout << "InvM_M:" << endl << InvM_M << endl << endl;
}
// Check if both of (M * InvM) and (InvM * M) are identity.
EXPECT_TRUE(equals(AugM_InvAugM, I, 1e-6));
if (!equals(AugM_InvAugM, I, 1e-6))
{
cout << "InvAugM :" << endl << InvAugM << endl << endl;
cout << "InvAugM2 :" << endl << AugM.inverse() << endl << endl;
cout << "AugM_InvAugM :" << endl << AugM_InvAugM << endl << endl;
}
EXPECT_TRUE(equals(InvAugM_AugM, I, 1e-6));
if (!equals(InvAugM_AugM, I, 1e-6))
{
cout << "InvAugM_AugM:" << endl << InvAugM_AugM << endl << endl;
}
//------- Coriolis Force Vector and Combined Force Vector Tests --------
// Get C1, Coriolis force vector using recursive method
VectorXd C = skel->getCoriolisForces();
VectorXd Cg = skel->getCoriolisAndGravityForces();
// Get C2, Coriolis force vector using inverse dynamics algorithm
Vector3d oldGravity = skel->getGravity();
VectorXd oldTau = skel->getForces();
VectorXd oldDdq = skel->getAccelerations();
// TODO(JS): Save external forces of body nodes
vector<double> oldKv(nSoftBodyNodes, 0.0);
vector<double> oldKe(nSoftBodyNodes, 0.0);
vector<double> oldD(nSoftBodyNodes, 0.0);
for (int k = 0; k < nSoftBodyNodes; ++k)
{
assert(softSkel != NULL);
dynamics::SoftBodyNode* sbn = softSkel->getSoftBodyNode(k);
oldKv[k] = sbn->getVertexSpringStiffness();
oldKe[k] = sbn->getEdgeSpringStiffness();
oldD[k] = sbn->getDampingCoefficient();
}
skel->resetForces();
skel->clearExternalForces();
skel->setAccelerations(VectorXd::Zero(dof));
for (int k = 0; k < nSoftBodyNodes; ++k)
{
assert(softSkel != NULL);
dynamics::SoftBodyNode* sbn = softSkel->getSoftBodyNode(k);
sbn->setVertexSpringStiffness(0.0);
sbn->setEdgeSpringStiffness(0.0);
sbn->setDampingCoefficient(0.0);
}
EXPECT_TRUE(skel->getForces() == VectorXd::Zero(dof));
EXPECT_TRUE(skel->getExternalForces() == VectorXd::Zero(dof));
EXPECT_TRUE(skel->getAccelerations() == VectorXd::Zero(dof));
skel->setGravity(Vector3d::Zero());
EXPECT_TRUE(skel->getGravity() == Vector3d::Zero());
skel->computeInverseDynamics(false, false);
VectorXd C2 = skel->getForces();
skel->setGravity(oldGravity);
EXPECT_TRUE(skel->getGravity() == oldGravity);
skel->computeInverseDynamics(false, false);
VectorXd Cg2 = skel->getForces();
EXPECT_TRUE(equals(C, C2, 1e-6));
if (!equals(C, C2, 1e-6))
{
cout << "C :" << C.transpose() << endl;
cout << "C2:" << C2.transpose() << endl;
}
EXPECT_TRUE(equals(Cg, Cg2, 1e-6));
if (!equals(Cg, Cg2, 1e-6))
{
cout << "Cg :" << Cg.transpose() << endl;
cout << "Cg2:" << Cg2.transpose() << endl;
}
skel->setForces(oldTau);
skel->setAccelerations(oldDdq);
// TODO(JS): Restore external forces of body nodes
}
}
delete myWorld;
}
//==============================================================================
void ConstraintTest::SingleContactTest(const std::string& /*_fileName*/)
{
using namespace std;
using namespace Eigen;
using namespace dart::math;
using namespace dart::collision;
using namespace dart::constraint;
using namespace dart::dynamics;
using namespace dart::simulation;
using namespace dart::io;
//----------------------------------------------------------------------------
// Settings
//----------------------------------------------------------------------------
// Number of random state tests for each skeletons
#ifndef NDEBUG // Debug mode
// std::size_t testCount = 1;
#else
// std::size_t testCount = 1;
#endif
WorldPtr world = World::create();
EXPECT_TRUE(world != nullptr);
world->setGravity(Vector3d(0.0, -10.00, 0.0));
world->setTimeStep(0.001);
world->getConstraintSolver()->setCollisionDetector(
DARTCollisionDetector::create());
SkeletonPtr sphereSkel = createSphere(0.05, Vector3d(0.0, 1.0, 0.0));
BodyNode* sphere = sphereSkel->getBodyNode(0);
Joint* sphereJoint = sphere->getParentJoint();
sphereJoint->setVelocity(3, Random::uniform(-2.0, 2.0)); // x-axis
sphereJoint->setVelocity(5, Random::uniform(-2.0, 2.0)); // z-axis
world->addSkeleton(sphereSkel);
EXPECT_EQ(sphereSkel->getGravity(), world->getGravity());
assert(sphere);
SkeletonPtr boxSkel = createBox(Vector3d(1.0, 1.0, 1.0),
Vector3d(0.0, 1.0, 0.0));
BodyNode* box = boxSkel->getBodyNode(0);
Joint* boxJoint = box->getParentJoint();
boxJoint->setVelocity(3, Random::uniform(-2.0, 2.0)); // x-axis
boxJoint->setVelocity(5, Random::uniform(-2.0, 2.0)); // z-axis
// world->addSkeleton(boxSkel);
// EXPECT_EQ(boxSkel->getGravity(), world->getGravity());
// assert(box);
SkeletonPtr groundSkel = createGround(Vector3d(10000.0, 0.1, 10000.0),
Vector3d(0.0, -0.05, 0.0));
groundSkel->setMobile(false);
// BodyNode* ground = groundSkel->getBodyNode(0);
world->addSkeleton(groundSkel);
EXPECT_EQ(groundSkel->getGravity(), world->getGravity());
// assert(ground);
EXPECT_EQ((int)world->getNumSkeletons(), 2);
// Lower and upper bound of configuration for system
// double lb = -1.5 * constantsd::pi();
// double ub = 1.5 * constantsd::pi();
int maxSteps = 500;
for (int i = 0; i < maxSteps; ++i)
{
// Vector3d pos1 = sphere->getWorldTransform().translation();
// Vector3d vel1 = sphere->getWorldLinearVelocity(pos1);
// std::cout << "pos1:" << pos1.transpose() << std::endl;
// std::cout << "vel1:" << vel1.transpose() << std::endl;
if (!world->checkCollision())
{
world->step();
continue;
}
// for (std::size_t j = 0; j < cd->getNumContacts(); ++j)
// {
// Contact contact = cd->getContact(j);
// Vector3d pos1 = sphere->getTransform().inverse() * contact.point;
// Vector3d vel1 = sphere->getWorldLinearVelocity(pos1);
// std::cout << "pos1:" << pos1.transpose() << std::endl;
// std::cout << "vel1:" << vel1.transpose() << std::endl;
// }
world->step();
const auto& result = world->getConstraintSolver()->getLastCollisionResult();
for (const auto& contact : result.getContacts())
{
Vector3d pos1 = sphere->getTransform().inverse() * contact.point;
Vector3d vel1 = sphere->getLinearVelocity(pos1);
// std::cout << "pos1:" << pos1.transpose() << std::endl;
// std::cout << "pos1[1]: " << pos1[1] << std::endl;
// std::cout << "pos1:" << pos1.transpose() << std::endl;
std::cout << "vel1:" << vel1.transpose() << ", pos1[1]: " << pos1[1] << std::endl;
// EXPECT_NEAR(pos1[0], 0.0, 1e-9);
// EXPECT_NEAR(pos1[1], -0.05, 1e-2);
// EXPECT_NEAR(pos1[2], 0.0, 1e-9);
// EXPECT_NEAR(vel1[0], 0.0, 1e-9);
// EXPECT_NEAR(vel1[1], 0.0, 1e-9);
// EXPECT_NEAR(vel1[2], 0.0, 1e-9);
// if (!equals(vel1, Vector3d(0.0, 0.0, 0.0)))
// std::cout << "vel1:" << vel1.transpose() << std::endl;
// EXPECT_EQ(vel1, Vector3d::Zero());
}
// std::cout << std::endl;
break;
}
}
//==============================================================================
void DynamicsTest::testImpulseBasedDynamics(const std::string& _fileName)
{
using namespace std;
using namespace Eigen;
using namespace dart;
using namespace math;
using namespace dynamics;
using namespace simulation;
using namespace utils;
//---------------------------- Settings --------------------------------------
// Number of random state tests for each skeletons
#ifndef NDEBUG // Debug mode
int nRandomItr = 1;
#else
int nRandomItr = 100;
#endif
// Lower and upper bound of configuration for system
double lb = -1.5 * DART_PI;
double ub = 1.5 * DART_PI;
simulation::World* myWorld = NULL;
//----------------------------- Tests ----------------------------------------
// Check whether multiplication of mass matrix and its inverse is identity
// matrix.
myWorld = utils::SkelParser::readWorld(_fileName);
EXPECT_TRUE(myWorld != NULL);
for (int i = 0; i < myWorld->getNumSkeletons(); ++i)
{
dynamics::Skeleton* skel = myWorld->getSkeleton(i);
int dof = skel->getNumGenCoords();
// int nBodyNodes = skel->getNumBodyNodes();
if (dof == 0 || !skel->isMobile())
{
dtdbg << "Skeleton [" << skel->getName() << "] is skipped since it has "
<< "0 DOF or is immobile." << endl;
continue;
}
for (int j = 0; j < nRandomItr; ++j)
{
// Set random configurations
for (int k = 0; k < skel->getNumBodyNodes(); ++k)
{
BodyNode* body = skel->getBodyNode(k);
Joint* joint = body->getParentJoint();
int localDof = joint->getNumGenCoords();
for (int l = 0; l < localDof; ++l)
{
double lbRP = joint->getGenCoord(l)->getPosMin();
double ubRP = joint->getGenCoord(l)->getPosMax();
if (lbRP < -DART_PI)
lbRP = -DART_PI;
if (ubRP > DART_PI)
ubRP = DART_PI;
joint->setConfig(l, random(lbRP, ubRP), true, false, false);
}
}
skel->setConfigs(VectorXd::Zero(dof));
// TODO(JS): Just clear what should be
skel->clearExternalForces();
skel->clearConstraintImpulses();
// Set random impulses
VectorXd impulses = VectorXd::Zero(dof);
for (size_t k = 0; k < impulses.size(); ++k)
impulses[k] = random(lb, ub);
skel->setConstraintImpulses(impulses);
// Compute impulse-based forward dynamics
skel->computeImpulseForwardDynamics();
// Compare resultant velocity change and invM * impulses
VectorXd deltaVel1 = skel->getVelsChange();
MatrixXd invM = skel->getInvMassMatrix();
VectorXd deltaVel2 = invM * impulses;
EXPECT_TRUE(equals(deltaVel1, deltaVel2, 1e-6));
if (!equals(deltaVel1, deltaVel2, 1e-6))
{
cout << "deltaVel1: " << deltaVel1.transpose() << endl;
cout << "deltaVel2: " << deltaVel2.transpose() << endl;
}
}
}
delete myWorld;
}
//==============================================================================
void DynamicsTest::centerOfMass(const std::string& _fileName)
{
using namespace std;
using namespace Eigen;
using namespace dart;
using namespace math;
using namespace dynamics;
using namespace simulation;
using namespace utils;
//---------------------------- Settings --------------------------------------
// Number of random state tests for each skeletons
#ifndef NDEBUG // Debug mode
int nRandomItr = 10;
#else
int nRandomItr = 100;
#endif
// Lower and upper bound of configuration for system
double lb = -1.5 * DART_PI;
double ub = 1.5 * DART_PI;
// Lower and upper bound of joint damping and stiffness
double lbD = 0.0;
double ubD = 10.0;
double lbK = 0.0;
double ubK = 10.0;
simulation::World* myWorld = NULL;
//----------------------------- Tests ----------------------------------------
// Check whether multiplication of mass matrix and its inverse is identity
// matrix.
myWorld = utils::SkelParser::readWorld(_fileName);
EXPECT_TRUE(myWorld != NULL);
for (int i = 0; i < myWorld->getNumSkeletons(); ++i)
{
dynamics::Skeleton* skel = myWorld->getSkeleton(i);
int dof = skel->getNumGenCoords();
// int nBodyNodes = skel->getNumBodyNodes();
if (dof == 0)
{
dtmsg << "Skeleton [" << skel->getName() << "] is skipped since it has "
<< "0 DOF." << endl;
continue;
}
for (int j = 0; j < nRandomItr; ++j)
{
// Random joint stiffness and damping coefficient
for (int k = 0; k < skel->getNumBodyNodes(); ++k)
{
BodyNode* body = skel->getBodyNode(k);
Joint* joint = body->getParentJoint();
int localDof = joint->getNumGenCoords();
for (int l = 0; l < localDof; ++l)
{
joint->setDampingCoefficient(l, random(lbD, ubD));
joint->setSpringStiffness (l, random(lbK, ubK));
double lbRP = joint->getGenCoord(l)->getPosMin();
double ubRP = joint->getGenCoord(l)->getPosMax();
if (lbRP < -DART_PI)
lbRP = -DART_PI;
if (ubRP > DART_PI)
ubRP = DART_PI;
joint->setRestPosition (l, random(lbRP, ubRP));
}
}
// Set random states
VectorXd x = skel->getState();
for (int k = 0; k < x.size(); ++k)
x[k] = random(lb, ub);
skel->setState(x, true, true, false);
VectorXd tau = skel->getGenForces();
for (int k = 0; k < tau.size(); ++k)
tau[k] = random(lb, ub);
skel->setGenForces(tau);
skel->computeForwardDynamics();
VectorXd q = skel->getConfigs();
VectorXd dq = skel->getGenVels();
VectorXd ddq = skel->getGenAccs();
VectorXd com = skel->getWorldCOM();
VectorXd dcom = skel->getWorldCOMVelocity();
VectorXd ddcom = skel->getWorldCOMAcceleration();
MatrixXd comJ = skel->getWorldCOMJacobian();
MatrixXd comdJ = skel->getWorldCOMJacobianTimeDeriv();
VectorXd dcom2 = comJ * dq;
VectorXd ddcom2 = comdJ * dq + comJ * ddq;
EXPECT_TRUE(equals(dcom, dcom2, 1e-6));
if (!equals(dcom, dcom2, 1e-6))
{
cout << "dcom :" << dcom.transpose() << endl;
cout << "dcom2:" << dcom2.transpose() << endl;
}
EXPECT_TRUE(equals(ddcom, ddcom2, 1e-6));
if (!equals(ddcom, ddcom2, 1e-6))
{
cout << "ddcom :" << ddcom.transpose() << endl;
cout << "ddcom2:" << ddcom2.transpose() << endl;
}
}
}
delete myWorld;
}
TEST(Skeleton, Restructuring)
{
std::vector<SkeletonPtr> skeletons = getSkeletons();
#ifndef NDEBUG
size_t numIterations = 10;
#else
size_t numIterations = 2*skeletons.size();
#endif
// Test moves within the current Skeleton
for(size_t i=0; i<numIterations; ++i)
{
size_t index = floor(math::random(0, skeletons.size()));
index = std::min(index, skeletons.size()-1);
SkeletonPtr skeleton = skeletons[index];
SkeletonPtr original = skeleton->clone();
size_t maxNode = skeleton->getNumBodyNodes()-1;
BodyNode* bn1 = skeleton->getBodyNode(floor(math::random(0, maxNode)));
BodyNode* bn2 = skeleton->getBodyNode(ceil(math::random(0, maxNode)));
if(bn1 == bn2)
{
--i;
continue;
}
BodyNode* child = bn1->descendsFrom(bn2)? bn1 : bn2;
BodyNode* parent = child == bn1? bn2 : bn1;
child->moveTo(parent);
EXPECT_TRUE(skeleton->getNumBodyNodes() == original->getNumBodyNodes());
if(skeleton->getNumBodyNodes() == original->getNumBodyNodes())
{
for(size_t j=0; j<skeleton->getNumBodyNodes(); ++j)
{
// Make sure no BodyNodes have been lost or gained in translation
std::string name = original->getBodyNode(j)->getName();
BodyNode* bn = skeleton->getBodyNode(name);
EXPECT_FALSE(bn == nullptr);
if(bn)
EXPECT_TRUE(bn->getName() == name);
name = skeleton->getBodyNode(j)->getName();
bn = original->getBodyNode(name);
EXPECT_FALSE(bn == nullptr);
if(bn)
EXPECT_TRUE(bn->getName() == name);
// Make sure no Joints have been lost or gained in translation
name = original->getJoint(j)->getName();
Joint* joint = skeleton->getJoint(name);
EXPECT_FALSE(joint == nullptr);
if(joint)
EXPECT_TRUE(joint->getName() == name);
name = skeleton->getJoint(j)->getName();
joint = original->getJoint(name);
EXPECT_FALSE(joint == nullptr);
if(joint)
EXPECT_TRUE(joint->getName() == name);
}
}
EXPECT_TRUE(skeleton->getNumDofs() == original->getNumDofs());
for(size_t j=0; j<skeleton->getNumDofs(); ++j)
{
std::string name = original->getDof(j)->getName();
DegreeOfFreedom* dof = skeleton->getDof(name);
EXPECT_FALSE(dof == nullptr);
if(dof)
EXPECT_TRUE(dof->getName() == name);
name = skeleton->getDof(j)->getName();
dof = original->getDof(name);
EXPECT_FALSE(dof == nullptr);
if(dof)
EXPECT_TRUE(dof->getName() == name);
}
}
// Test moves between Skeletons
for(size_t i=0; i<numIterations; ++i)
{
size_t fromIndex = floor(math::random(0, skeletons.size()));
fromIndex = std::min(fromIndex, skeletons.size()-1);
SkeletonPtr fromSkel = skeletons[fromIndex];
if(fromSkel->getNumBodyNodes() == 0)
{
--i;
continue;
}
size_t toIndex = floor(math::random(0, skeletons.size()));
toIndex = std::min(toIndex, skeletons.size()-1);
SkeletonPtr toSkel = skeletons[toIndex];
if(toSkel->getNumBodyNodes() == 0)
{
--i;
continue;
}
BodyNode* childBn = fromSkel->getBodyNode(
floor(math::random(0, fromSkel->getNumBodyNodes()-1)));
BodyNode* parentBn = toSkel->getBodyNode(
floor(math::random(0, toSkel->getNumBodyNodes()-1)));
if(fromSkel == toSkel)
{
if(childBn == parentBn)
{
--i;
continue;
}
if(parentBn->descendsFrom(childBn))
{
BodyNode* tempBn = childBn;
childBn = parentBn;
parentBn = tempBn;
SkeletonPtr tempSkel = fromSkel;
fromSkel = toSkel;
toSkel = tempSkel;
}
}
BodyNode* originalParent = childBn->getParentBodyNode();
std::vector<BodyNode*> subtree;
constructSubtree(subtree, childBn);
// Move to a new Skeleton
childBn->moveTo(parentBn);
// Make sure all the objects have moved
for(size_t j=0; j<subtree.size(); ++j)
{
BodyNode* bn = subtree[j];
EXPECT_TRUE(bn->getSkeleton() == toSkel);
}
// Move to the Skeleton's root while producing a new Joint type
sub_ptr<Joint> originalJoint = childBn->getParentJoint();
childBn->moveTo<FreeJoint>(nullptr);
// The original parent joint should be deleted now
EXPECT_TRUE(originalJoint == nullptr);
// The BodyNode should now be a root node
EXPECT_TRUE(childBn->getParentBodyNode() == nullptr);
// The subtree should still be in the same Skeleton
for(size_t j=0; j<subtree.size(); ++j)
{
BodyNode* bn = subtree[j];
EXPECT_TRUE(bn->getSkeleton() == toSkel);
}
// Create some new Skeletons and mangle them all up
childBn->copyTo<RevoluteJoint>(fromSkel, originalParent);
SkeletonPtr temporary = childBn->split("temporary");
SkeletonPtr other_temporary =
childBn->split<PrismaticJoint>("other temporary");
SkeletonPtr another_temporary = childBn->copyAs("another temporary");
SkeletonPtr last_temporary = childBn->copyAs<ScrewJoint>("last temporary");
childBn->copyTo(another_temporary->getBodyNode(
another_temporary->getNumBodyNodes()-1));
childBn->copyTo<PlanarJoint>(another_temporary->getBodyNode(0));
childBn->copyTo<TranslationalJoint>(temporary, nullptr);
childBn->moveTo(last_temporary,
last_temporary->getBodyNode(last_temporary->getNumBodyNodes()-1));
childBn->moveTo<BallJoint>(last_temporary, nullptr);
childBn->moveTo<EulerJoint>(last_temporary,
last_temporary->getBodyNode(0));
childBn->changeParentJointType<FreeJoint>();
// Test the non-recursive copying
if(toSkel->getNumBodyNodes() > 1)
{
SkeletonPtr singleBodyNode =
toSkel->getBodyNode(0)->copyAs("single", false);
EXPECT_TRUE(singleBodyNode->getNumBodyNodes() == 1);
std::pair<Joint*, BodyNode*> singlePair =
toSkel->getBodyNode(0)->copyTo(nullptr, false);
EXPECT_TRUE(singlePair.second->getNumChildBodyNodes() == 0);
}
// Check that the mangled Skeletons are all self-consistent
check_self_consistency(fromSkel);
check_self_consistency(toSkel);
check_self_consistency(temporary);
check_self_consistency(other_temporary);
check_self_consistency(another_temporary);
check_self_consistency(last_temporary);
}
}
// Current code only works for the left leg with only one constraint
VectorXd MyWorld::updateGradients() {
// compute c(q)
mC = mSkel->getMarker(mConstrainedMarker)->getWorldPosition() - mTarget;
// compute J(q)
Vector4d offset;
offset << mSkel->getMarker(mConstrainedMarker)->getLocalPosition(), 1; // Create a vector in homogeneous coordinates
// w.r.t ankle dofs
BodyNode *node = mSkel->getMarker(mConstrainedMarker)->getBodyNode();
Joint *joint = node->getParentJoint();
Matrix4d worldToParent = node->getParentBodyNode()->getTransform().matrix();
Matrix4d parentToJoint = joint->getTransformFromParentBodyNode().matrix();
Matrix4d dR = joint->getTransformDerivative(0); // Doesn't need .matrix() because it returns a Matrix4d instead of Isometry3d
Matrix4d R = joint->getTransform(1).matrix();
Matrix4d jointToChild = joint->getTransformFromChildBodyNode().inverse().matrix();
Vector4d jCol = worldToParent * parentToJoint * dR * R * jointToChild * offset;
int colIndex = joint->getIndexInSkeleton(0);
mJ.col(colIndex) = jCol.head(3); // Take the first 3 elelemtns of jCol
dR = joint->getTransformDerivative(1);
R = joint->getTransform(0).matrix();
jCol = worldToParent * parentToJoint * R * dR * jointToChild * offset;
colIndex = joint->getIndexInSkeleton(1);
mJ.col(colIndex) = jCol.head(3);
offset = parentToJoint * joint->getTransform(0).matrix() * joint->getTransform(1).matrix() * jointToChild * offset; // Update offset so it stores the chain below the parent joint
// w.r.t knee dof
node = node->getParentBodyNode(); // return NULL if node is the root node
joint = node->getParentJoint();
worldToParent = node->getParentBodyNode()->getTransform().matrix();
parentToJoint = joint->getTransformFromParentBodyNode().matrix();
dR = joint->getTransformDerivative(0); // Doesn't need .matrix() because it returns a Matrix4d instead of Isometry3d
jointToChild = joint->getTransformFromChildBodyNode().inverse().matrix();
jCol = worldToParent * parentToJoint * dR * jointToChild * offset;
colIndex = joint->getIndexInSkeleton(0);
mJ.col(colIndex) = jCol.head(3); // Take the first 3 elelemtns of jCol
offset = parentToJoint * joint->getTransform(0).matrix() * jointToChild * offset;
// w.r.t hip dofs
node = node->getParentBodyNode();
joint = node->getParentJoint();
worldToParent = node->getParentBodyNode()->getTransform().matrix();
parentToJoint = joint->getTransformFromParentBodyNode().matrix();
dR = joint->getTransformDerivative(0); // Doesn't need .matrix() because it returns a Matrix4d instead of Isometry3d
Matrix4d R1 = joint->getTransform(1).matrix();
Matrix4d R2 = joint->getTransform(2).matrix();
jointToChild = joint->getTransformFromChildBodyNode().inverse().matrix();
jCol = worldToParent * parentToJoint * dR * R1 * R2 * jointToChild * offset;
colIndex = joint->getIndexInSkeleton(0);
mJ.col(colIndex) = jCol.head(3); // Take the first 3 elelemtns of J
R1 = joint->getTransform(0).matrix();
dR = joint->getTransformDerivative(1);
R2 = joint->getTransform(2).matrix();
jCol = worldToParent * parentToJoint * R1 * dR * R2 * jointToChild * offset;
colIndex = joint->getIndexInSkeleton(1);
mJ.col(colIndex) = jCol.head(3);
R1 = joint->getTransform(0).matrix();
R2 = joint->getTransform(1).matrix();
dR = joint->getTransformDerivative(2);
jCol = worldToParent * parentToJoint * R1 * R2 * dR * jointToChild * offset;
colIndex = joint->getIndexInSkeleton(2);
mJ.col(colIndex) = jCol.head(3);
// compute gradients
VectorXd gradients = 2 * mJ.transpose() * mC;
return gradients;
}
// Current code only works for the left leg with only one constraint
VectorXd MyWorld::updateGradients() {
mJ.setZero();
mC.setZero();
// compute c(q)
//std::cout << "HAMYDEBUG: mConstrainedMarker = " << getMarker(mConstrainedMarker) << std::endl;
mC = getMarker(mConstrainedMarker)->getWorldPosition() - mTarget;
std::cout << "C(q) = " << mC << std::endl;
// compute J(q)
Vector4d offset;
offset << getMarker(mConstrainedMarker)->getLocalPosition(), 1; // Create a vector in homogeneous coordinates
//Setup vars
BodyNode *node = getMarker(mConstrainedMarker)->getBodyNode();
Joint *joint = node->getParentJoint();
Matrix4d worldToParent;
Matrix4d parentToJoint;
//Declare Vars
Matrix4d dR; // Doesn't need .matrix() because it returns a Matrix4d instead of Isometry3d
Matrix4d R;
Matrix4d R1;
Matrix4d R2;
Matrix4d jointToChild;
Vector4d jCol;
int colIndex;
//TODO: Might want to change this to check if root using given root fcn
//Iterate until we get to the root node
while(true) {
//std::cout << "HAMY DEBUG: Beginning new looop" << std::endl;
if(node->getParentBodyNode() == NULL) {
worldToParent = worldToParent.setIdentity();
} else {
worldToParent = node->getParentBodyNode()->getTransform().matrix();
}
parentToJoint = joint->getTransformFromParentBodyNode().matrix();
// Doesn't need .matrix() because it returns a Matrix4d instead of Isometry3d
jointToChild = joint->getTransformFromChildBodyNode().inverse().matrix();
//TODO: R1, R2, ... Rn code depending on DOFs
int nDofs = joint->getNumDofs();
//std::cout << "HAMY: nDofs=" << nDofs << std::endl;
//Can only have up to 3 DOFs on any one piece
switch(nDofs){
case 1: //std::cout << "HAMY: 1 nDOF" << std::endl;
dR = joint->getTransformDerivative(0);
jCol = worldToParent * parentToJoint * dR * jointToChild * offset;
colIndex = joint->getIndexInSkeleton(0);
mJ.col(colIndex) = jCol.head(3); // Take the first 3 elelemtns of jCol
offset = parentToJoint * joint->getTransform(0).matrix() * jointToChild * offset;
break;
case 2: //std::cout << "HAMY: 2 nDOF" << std::endl;
dR = joint->getTransformDerivative(0); // Doesn't need .matrix() because it returns a Matrix4d instead of Isometry3d
R = joint->getTransform(1).matrix();
jointToChild = joint->getTransformFromChildBodyNode().inverse().matrix();
jCol = worldToParent * parentToJoint * dR * R * jointToChild * offset;
colIndex = joint->getIndexInSkeleton(0);
mJ.col(colIndex) = jCol.head(3); // Take the first 3 elelemtns of jCol
dR = joint->getTransformDerivative(1);
R = joint->getTransform(0).matrix();
jCol = worldToParent * parentToJoint * R * dR * jointToChild * offset;
colIndex = joint->getIndexInSkeleton(1);
mJ.col(colIndex) = jCol.head(3);
offset = parentToJoint * joint->getTransform(0).matrix() * joint->getTransform(1).matrix() * jointToChild * offset; // Upd
break;
case 3: //std::cout << "HAMY: 3 nDOF" << std::endl;
dR = joint->getTransformDerivative(0); // Doesn't need .matrix() because it returns a Matrix4d instead of Isometry3d
R1 = joint->getTransform(1).matrix();
R2 = joint->getTransform(2).matrix();
jointToChild = joint->getTransformFromChildBodyNode().inverse().matrix();
jCol = worldToParent * parentToJoint * dR * R1 * R2 * jointToChild * offset;
colIndex = joint->getIndexInSkeleton(0);
mJ.col(colIndex) = jCol.head(3); // Take the first 3 elelemtns of J
R1 = joint->getTransform(0).matrix();
dR = joint->getTransformDerivative(1);
R2 = joint->getTransform(2).matrix();
jCol = worldToParent * parentToJoint * R1 * dR * R2 * jointToChild * offset;
colIndex = joint->getIndexInSkeleton(1);
mJ.col(colIndex) = jCol.head(3);
R1 = joint->getTransform(0).matrix();
R2 = joint->getTransform(1).matrix();
dR = joint->getTransformDerivative(2);
jCol = worldToParent * parentToJoint * R1 * R2 * dR * jointToChild * offset;
colIndex = joint->getIndexInSkeleton(2);
mJ.col(colIndex) = jCol.head(3);
offset = parentToJoint * joint->getTransform(0).matrix() * joint->getTransform(1).matrix() * joint->getTransform(2).matrix() * jointToChild * offset;
break;
default: //std::cout << "HAMY: Unexpected nDOF = " << nDofs << std::endl;
break;
}
if(node != mSkel->getRootBodyNode()) {
//std::cout << "HAMY DEBUG: Not root, continue loop" << std::endl;
node = node->getParentBodyNode(); // return NULL if node is the root node
joint = node->getParentJoint();
} else {
break;
}
}
// compute gradients
VectorXd gradients = 2 * mJ.transpose() * mC;
return gradients;
}
//==============================================================================
void ConstraintTest::SingleContactTest(const std::string& _fileName)
{
using namespace std;
using namespace Eigen;
using namespace dart::math;
using namespace dart::collision;
using namespace dart::constraint;
using namespace dart::dynamics;
using namespace dart::simulation;
using namespace dart::utils;
//----------------------------------------------------------------------------
// Settings
//----------------------------------------------------------------------------
// Number of random state tests for each skeletons
#ifndef NDEBUG // Debug mode
int testCount = 1;
#else
int testCount = 1;
#endif
World* world = new World;
EXPECT_TRUE(world != NULL);
world->setGravity(Vector3d(0.0, -10.00, 0.0));
world->setTimeStep(0.001);
world->getConstraintSolver()->setCollisionDetector(
new DARTCollisionDetector());
Skeleton* sphereSkel = createSphere(0.05, Vector3d(0.0, 1.0, 0.0));
BodyNode* sphere = sphereSkel->getBodyNode(0);
Joint* sphereJoint = sphere->getParentJoint();
sphereJoint->setVelocity(3, random(-2.0, 2.0)); // x-axis
sphereJoint->setVelocity(5, random(-2.0, 2.0)); // z-axis
world->addSkeleton(sphereSkel);
EXPECT_EQ(sphereSkel->getGravity(), world->getGravity());
assert(sphere);
Skeleton* boxSkel = createBox(Vector3d(1.0, 1.0, 1.0),
Vector3d(0.0, 1.0, 0.0));
BodyNode* box = boxSkel->getBodyNode(0);
Joint* boxJoint = box->getParentJoint();
boxJoint->setVelocity(3, random(-2.0, 2.0)); // x-axis
boxJoint->setVelocity(5, random(-2.0, 2.0)); // z-axis
// world->addSkeleton(boxSkel);
// EXPECT_EQ(boxSkel->getGravity(), world->getGravity());
// assert(box);
Skeleton* groundSkel = createGround(Vector3d(10000.0, 0.1, 10000.0),
Vector3d(0.0, -0.05, 0.0));
groundSkel->setMobile(false);
BodyNode* ground = groundSkel->getBodyNode(0);
world->addSkeleton(groundSkel);
EXPECT_EQ(groundSkel->getGravity(), world->getGravity());
assert(ground);
EXPECT_EQ(world->getNumSkeletons(), 2);
ConstraintSolver* cs = world->getConstraintSolver();
CollisionDetector* cd = cs->getCollisionDetector();
// Lower and upper bound of configuration for system
double lb = -1.5 * DART_PI;
double ub = 1.5 * DART_PI;
int maxSteps = 500;
for (int i = 0; i < maxSteps; ++i)
{
// Vector3d pos1 = sphere->getWorldTransform().translation();
// Vector3d vel1 = sphere->getWorldLinearVelocity(pos1);
// std::cout << "pos1:" << pos1.transpose() << std::endl;
// std::cout << "vel1:" << vel1.transpose() << std::endl;
cd->detectCollision(true, true);
if (cd->getNumContacts() == 0)
{
world->step();
continue;
}
for (int j = 0; j < cd->getNumContacts(); ++j)
{
Contact contact = cd->getContact(j);
Vector3d pos1 = sphere->getTransform().inverse() * contact.point;
Vector3d vel1 = sphere->getWorldLinearVelocity(pos1);
// std::cout << "pos1:" << pos1.transpose() << std::endl;
// std::cout << "vel1:" << vel1.transpose() << std::endl;
}
world->step();
for (int j = 0; j < cd->getNumContacts(); ++j)
{
Contact contact = cd->getContact(j);
Vector3d pos1 = sphere->getTransform().inverse() * contact.point;
Vector3d vel1 = sphere->getWorldLinearVelocity(pos1);
// std::cout << "pos1:" << pos1.transpose() << std::endl;
// std::cout << "pos1[1]: " << pos1[1] << std::endl;
// std::cout << "pos1:" << pos1.transpose() << std::endl;
std::cout << "vel1:" << vel1.transpose() << ", pos1[1]: " << pos1[1] << std::endl;
// EXPECT_NEAR(pos1[0], 0.0, 1e-9);
// EXPECT_NEAR(pos1[1], -0.05, 1e-2);
// EXPECT_NEAR(pos1[2], 0.0, 1e-9);
// EXPECT_NEAR(vel1[0], 0.0, 1e-9);
// EXPECT_NEAR(vel1[1], 0.0, 1e-9);
// EXPECT_NEAR(vel1[2], 0.0, 1e-9);
// if (!equals(vel1, Vector3d(0.0, 0.0, 0.0)))
// std::cout << "vel1:" << vel1.transpose() << std::endl;
// EXPECT_EQ(vel1, Vector3d::Zero());
}
// std::cout << std::endl;
break;
}
delete world;
}