bindings_centroidal_dynamics_derivatives.py
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1 import unittest
2 from test_case import PinocchioTestCase as TestCase
3 
4 import pinocchio as pin
5 import numpy as np
6 
7 
8 class TestDeriavtives(TestCase):
9  def setUp(self):
10  self.model = pin.buildSampleModelHumanoidRandom()
11  self.data = self.model.createData()
12 
13  qmax = np.full((self.model.nq, 1), np.pi)
14  self.q = pin.randomConfiguration(self.model, -qmax, qmax)
15  self.v = np.random.rand((self.model.nv))
16  self.a = np.random.rand((self.model.nv))
17 
19  res = pin.computeCentroidalDynamicsDerivatives(
20  self.model, self.data, self.q, self.v, self.a
21  )
22 
23  self.assertTrue(len(res) == 4)
24 
25  data2 = self.model.createData()
26  pin.computeCentroidalMomentumTimeVariation(
27  self.model, data2, self.q, self.v, self.a
28  )
29 
30  self.assertApprox(self.data.hg, data2.hg)
31  self.assertApprox(self.data.dhg, data2.dhg)
32 
33  data3 = self.model.createData()
34  pin.computeRNEADerivatives(self.model, data3, self.q, self.v, self.a)
35  res2 = pin.getCentroidalDynamicsDerivatives(self.model, data3)
36 
37  for k in range(4):
38  self.assertApprox(res[k], res2[k])
39 
40 
41 if __name__ == "__main__":
42  unittest.main()
bindings_centroidal_dynamics_derivatives.TestDeriavtives.model
model
Definition: bindings_centroidal_dynamics_derivatives.py:10
bindings_centroidal_dynamics_derivatives.TestDeriavtives.setUp
def setUp(self)
Definition: bindings_centroidal_dynamics_derivatives.py:9
bindings_centroidal_dynamics_derivatives.TestDeriavtives.a
a
Definition: bindings_centroidal_dynamics_derivatives.py:16
bindings_centroidal_dynamics_derivatives.TestDeriavtives.v
v
Definition: bindings_centroidal_dynamics_derivatives.py:15
bindings_centroidal_dynamics_derivatives.TestDeriavtives.test_centroidal_derivatives
def test_centroidal_derivatives(self)
Definition: bindings_centroidal_dynamics_derivatives.py:18
bindings_centroidal_dynamics_derivatives.TestDeriavtives.q
q
Definition: bindings_centroidal_dynamics_derivatives.py:14
bindings_centroidal_dynamics_derivatives.TestDeriavtives.data
data
Definition: bindings_centroidal_dynamics_derivatives.py:11
pinocchio::createData
ConstraintDataTpl< Scalar, Options, ConstraintCollectionTpl > createData(const ConstraintModelTpl< Scalar, Options, ConstraintCollectionTpl > &cmodel)
Definition: constraint-model-visitor.hpp:248
bindings_centroidal_dynamics_derivatives.TestDeriavtives
Definition: bindings_centroidal_dynamics_derivatives.py:8


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autogenerated on Sun Jun 16 2024 02:43:06