Example #1
0
void checkMultiBodyEq(const rbd::MultiBody& mb, std::vector<rbd::Body> bodies,
	std::vector<rbd::Joint> joints, std::vector<int> pred, std::vector<int> succ,
	std::vector<int> parent,
	std::vector<sva::PTransformd> Xt)
{
	// bodies
	BOOST_CHECK_EQUAL_COLLECTIONS(mb.bodies().begin(), mb.bodies().end(),
					bodies.begin(), bodies.end());
	// joints
	BOOST_CHECK_EQUAL_COLLECTIONS(mb.joints().begin(), mb.joints().end(),
					joints.begin(), joints.end());
	// pred
	BOOST_CHECK_EQUAL_COLLECTIONS(mb.predecessors().begin(), mb.predecessors().end(),
					pred.begin(), pred.end());
	// succ
	BOOST_CHECK_EQUAL_COLLECTIONS(mb.successors().begin(), mb.successors().end(),
					succ.begin(), succ.end());
	// parent
	BOOST_CHECK_EQUAL_COLLECTIONS(mb.parents().begin(), mb.parents().end(),
					parent.begin(), parent.end());

	// Xt
	BOOST_CHECK_EQUAL_COLLECTIONS(mb.transforms().begin(),
		mb.transforms().end(),
		Xt.begin(), Xt.end());

	// nrBodies
	BOOST_CHECK_EQUAL(mb.nrBodies(), bodies.size());
	// nrJoints
	BOOST_CHECK_EQUAL(mb.nrJoints(), bodies.size());

	int params = 0, dof = 0;
	for(int i = 0; i < static_cast<int>(joints.size()); ++i)
	{
		BOOST_CHECK_EQUAL(mb.jointPosInParam(i), params);
		BOOST_CHECK_EQUAL(mb.jointsPosInParam()[i], params);
		BOOST_CHECK_EQUAL(mb.sJointPosInParam(i), params);

		BOOST_CHECK_EQUAL(mb.jointPosInDof(i), dof);
		BOOST_CHECK_EQUAL(mb.jointsPosInDof()[i], dof);
		BOOST_CHECK_EQUAL(mb.sJointPosInDof(i), dof);

		params += joints[i].params();
		dof += joints[i].dof();
	}

	BOOST_CHECK_EQUAL(params, mb.nrParams());
	BOOST_CHECK_EQUAL(dof, mb.nrDof());

	BOOST_CHECK_THROW(mb.sJointPosInParam(mb.nrJoints()), std::out_of_range);
	BOOST_CHECK_THROW(mb.sJointPosInDof(mb.nrJoints()), std::out_of_range);
}
Example #2
0
void checkMultiBodyNames(const rbd::MultiBody& mb,
											 const std::vector<std::string>& bodies,
											 const std::vector<std::string>& joints)
{
	for(const rbd::Body& b: mb.bodies())
	{
		BOOST_CHECK(std::find(bodies.begin(), bodies.end(), b.name()) != bodies.end());
	}
	for(const rbd::Joint& j: mb.joints())
	{
		BOOST_CHECK(std::find(joints.begin(), joints.end(), j.name()) != joints.end());
	}
}