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Original file line number | Diff line number | Diff line change |
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@@ -1,16 +1,16 @@ | ||
# Copyright (c) 2019, CNRS | ||
# Authors: Pierre Fernbach <[email protected]> | ||
import unittest | ||
from math import cos, sin, sqrt | ||
from random import uniform | ||
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import numpy as np | ||
from numpy import array, array_equal, random, isclose | ||
from random import uniform | ||
from math import sqrt, sin, cos | ||
from curves import SE3Curve, bezier, piecewise, piecewise_SE3, polynomial | ||
from numpy import array, array_equal, isclose, random | ||
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import pinocchio as pin | ||
from pinocchio import SE3, Quaternion | ||
from curves import SE3Curve, polynomial, bezier, piecewise, piecewise_SE3 | ||
from multicontact_api import ContactModelPlanar, ContactPatch, ContactPhase, ContactSequence | ||
from pinocchio import SE3, Quaternion | ||
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pin.switchToNumpyArray() | ||
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@@ -26,9 +26,11 @@ def randomQuaternion(): | |
return q | ||
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# build random piecewise polynomial with 2 polynomial of degree 3 | ||
# between 01 and 12 | ||
def createRandomPiecewisePolynomial(dim, t_min=0, t_max=2): | ||
""" | ||
Build random piecewise polynomial with 2 polynomial of degree 3 | ||
between 01 and 12 | ||
""" | ||
t_mid = (t_min + t_max) / 2. | ||
coefs0 = np.random.rand(dim, 4) # degree 3 | ||
pol0 = polynomial(coefs0, t_min, t_mid) | ||
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@@ -117,7 +119,7 @@ def addRandomContacts(cp): | |
def addRandomForcesTrajs(cp): | ||
fR = createRandomPiecewisePolynomial(12) | ||
fL = createRandomPiecewisePolynomial(12) | ||
fL2 = createRandomPiecewisePolynomial(12) | ||
# fL2 = createRandomPiecewisePolynomial(12) | ||
cp.addContactForceTrajectory("right-leg", fR) | ||
cp.addContactForceTrajectory("left-leg", fL) | ||
fR = createRandomPiecewisePolynomial(1) | ||
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@@ -1213,25 +1215,25 @@ def test_com_trajectory_helper(self): | |
time_points = array(random.rand(1, N)).T | ||
time_points.sort(0) | ||
cp = ContactPhase() | ||
cp.setCOMtrajectoryFromPoints(points,points_derivative,points_second_derivative,time_points) | ||
cp.setCOMtrajectoryFromPoints(points, points_derivative, points_second_derivative, time_points) | ||
self.assertEqual(cp.c_t.min(), time_points[0]) | ||
self.assertEqual(cp.c_t.max(), time_points[-1]) | ||
self.assertEqual(cp.dc_t.dim(), 3) | ||
for i in range(N): | ||
self.assertTrue(isclose(cp.c_t(time_points[i, 0]), points[:,i]).all()) | ||
self.assertTrue(isclose(cp.dc_t(time_points[i, 0]), points_derivative[:,i]).all()) | ||
self.assertTrue(isclose(cp.ddc_t(time_points[i, 0]), points_second_derivative[:,i]).all()) | ||
self.assertTrue(isclose(cp.c_t(time_points[i, 0]), points[:, i]).all()) | ||
self.assertTrue(isclose(cp.dc_t(time_points[i, 0]), points_derivative[:, i]).all()) | ||
self.assertTrue(isclose(cp.ddc_t(time_points[i, 0]), points_second_derivative[:, i]).all()) | ||
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cp.setAMtrajectoryFromPoints(points,points_derivative,time_points) | ||
cp.setAMtrajectoryFromPoints(points, points_derivative, time_points) | ||
for i in range(N): | ||
self.assertTrue(isclose(cp.L_t(time_points[i, 0]), points[:,i]).all()) | ||
self.assertTrue(isclose(cp.dL_t(time_points[i, 0]), points_derivative[:,i]).all()) | ||
self.assertTrue(isclose(cp.L_t(time_points[i, 0]), points[:, i]).all()) | ||
self.assertTrue(isclose(cp.dL_t(time_points[i, 0]), points_derivative[:, i]).all()) | ||
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cp.setJointsTrajectoryFromPoints(points,points_derivative,points_second_derivative,time_points) | ||
cp.setJointsTrajectoryFromPoints(points, points_derivative, points_second_derivative, time_points) | ||
for i in range(N): | ||
self.assertTrue(isclose(cp.q_t(time_points[i, 0]), points[:,i]).all()) | ||
self.assertTrue(isclose(cp.dq_t(time_points[i, 0]), points_derivative[:,i]).all()) | ||
self.assertTrue(isclose(cp.ddq_t(time_points[i, 0]), points_second_derivative[:,i]).all()) | ||
self.assertTrue(isclose(cp.q_t(time_points[i, 0]), points[:, i]).all()) | ||
self.assertTrue(isclose(cp.dq_t(time_points[i, 0]), points_derivative[:, i]).all()) | ||
self.assertTrue(isclose(cp.ddq_t(time_points[i, 0]), points_second_derivative[:, i]).all()) | ||
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class ContactSequenceTest(unittest.TestCase): | ||
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