/* ********************************************************************************************* */
TEST(KINEMATICS, TRANS_AND_DERIV) {
using namespace Eigen;
using namespace kinematics;
FileInfoSkel<Skeleton> modelFile;
bool loadModelResult = modelFile.loadFile(DART_DATA_PATH"skel/SehoonVSK3.vsk");
ASSERT_TRUE(loadModelResult);
Skeleton* skel = modelFile.getSkel();
EXPECT_TRUE(skel != NULL);
/* LOG(INFO) << "# Dofs = " << skel->getNumDofs(); */
/* LOG(INFO) << "# Nodes = " << skel->getNumNodes(); */
FileInfoDof dofFile(skel);
bool loadDofResult = dofFile.loadFile(DART_DATA_PATH"dof/init_Tpose.dof");
ASSERT_TRUE(loadDofResult);
/* LOG(INFO) << "# frames = " << dofFile.getNumFrames(); */
VectorXd pose = dofFile.getPoseAtFrame(0);
skel->setPose(pose, true, true);
const int nodeIndex = 1;
BodyNode* node = skel->getNode(nodeIndex);
EXPECT_TRUE(node != NULL);
const double TOLERANCE = 0.000001;
// Check the one global transform matrix
const Matrix4d& W = skel->getNode(20)->getWorldTransform();
Matrix4d W_truth;
W_truth << -0.110662, 0.991044, 0.074734, 0.642841
, -0.987564, -0.118099, 0.103775, 0.327496
, 0.111672, -0.0623207, 0.991789, -0.12855
, 0, 0, 0, 1;
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
EXPECT_NEAR(W(i, j), W_truth(i, j), TOLERANCE);
}
}
// Check the derivative of one global transform matrix
// const Matrix4d& Wq = skel->getNode(10)->mWq.at(4);
const Matrix4d& Wq = skel->getNode(10)->getDerivWorldTransform(4);
Matrix4d Wq_truth;
Wq_truth << 0.121382, 0.413015, 0.902378, 0.161838
,-0.0175714, 0.00698451, 0.0149899, 0.00571836
,-0.992336, 0.0556535, 0.107702, 0.175059
,0, 0, 0, 0;
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
EXPECT_NEAR(Wq(i, j), Wq_truth(i, j), TOLERANCE);
}
}
// Check Jacobians
BodyNode *nodecheck = skel->getNode(23);
// Linear Jacobian
const MatrixXd Jv = nodecheck->getJacobianLinear();
MatrixXd Jv_truth = MatrixXd::Zero(Jv.rows(), Jv.cols());
Jv_truth<<1, 0, 0, 0.013694, -0.0194371, -0.422612, 0.0157281, -0.00961473, -0.421925, 0.0026645, -0.0048767, -0.179914, -0.0013539, -0.00132969, -0.00885535,
0, 1, 0, 0.0321939, 0.00226492, -0.135736, 0.0330525, 0.00462613, -0.135448, 0.0181491, 0.00758086, -0.122187, 0.00532694, 0.0049221, -0.128917,
0, 0, 1, 0.423948, 0.130694, 0.0166546, 0.42642, 0.118176, 0.0221309, 0.180296, 0.120584, 0.0105059, 0.0838259, 0.081304, 0.00719314;
for (int i = 0; i < Jv.rows(); i++) {
for (int j = 0; j < Jv.cols(); j++) {
EXPECT_NEAR(Jv(i, j), Jv_truth(i, j), TOLERANCE);
}
}
// Angular Jacobian
const MatrixXd Jwbody = nodecheck->getWorldTransform().topLeftCorner<3,3>().transpose()
* nodecheck->getJacobianAngular();
MatrixXd Jwbody_truth = MatrixXd::Zero(Jwbody.rows(), Jwbody.cols());
Jwbody_truth << 0, 0, 0, 0.0818662, 0.996527, 0.000504051, 0.110263, 0.993552, 0.0249018, 0.0772274, 0.995683, 0.0423836, 0.648386, 0.628838, 0.0338389,
0, 0, 0, -0.995079, 0.082001, -0.0518665, -0.992054, 0.111479, -0.0554717, -0.996033, 0.078601, -0.0313861, -0.629201, 0.649145, -0.00994729,
0, 0, 0, -0.0518265, 0.00391001, 0.998406, -0.0579139, -0.0187244, 0.998021, -0.0343359, -0.0398718, 0.998564, -0.0262454, -0.0235626, 0.999159;
for (int i = 0; i < Jwbody.rows(); i++) {
for (int j = 0; j < Jwbody.cols(); j++) {
EXPECT_NEAR(Jwbody(i, j), Jwbody_truth(i, j), TOLERANCE);
}
}
}
