bindings_motion.py
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1 import unittest
2 import pinocchio as pin
3 import numpy as np
4 from pinocchio.utils import zero, rand
5 
6 
7 class TestMotionBindings(unittest.TestCase):
8  def test_zero_getters(self):
9  v = pin.Motion.Zero()
10  self.assertTrue(np.allclose(zero(3), v.linear))
11  self.assertTrue(np.allclose(zero(3), v.angular))
12  self.assertTrue(np.allclose(zero(6), v.vector))
13 
14  # TODO: this is not nice, since a random vector can *in theory* be zero
15  def test_setRandom(self):
16  v = pin.Motion.Zero()
17  v.setRandom()
18  self.assertFalse(np.allclose(zero(3), v.linear))
19  self.assertFalse(np.allclose(zero(3), v.angular))
20  self.assertFalse(np.allclose(zero(6), v.vector))
21 
22  def test_setZero(self):
23  v = pin.Motion.Zero()
24  v.setRandom()
25  v.setZero()
26  self.assertTrue(np.allclose(zero(3), v.linear))
27  self.assertTrue(np.allclose(zero(3), v.angular))
28  self.assertTrue(np.allclose(zero(6), v.vector))
29 
30  def test_set_linear(self):
31  v = pin.Motion.Zero()
32  lin = rand(3)
33  v.linear = lin
34  self.assertTrue(np.allclose(v.linear, lin))
35 
36  v.linear[1] = 1.0
37  self.assertTrue(v.linear[1] == 1.0)
38 
39  def test_set_angular(self):
40  v = pin.Motion.Zero()
41  ang = rand(3)
42  v.angular = ang
43  self.assertTrue(np.allclose(v.angular, ang))
44 
45  v.angular[1] = 1.0
46  self.assertTrue(v.angular[1] == 1.0)
47 
48  def test_set_vector(self):
49  v = pin.Motion.Zero()
50  vec = rand(6)
51  v.vector = vec
52  self.assertTrue(np.allclose(v.vector, vec))
53 
54  def test_internal_sums(self):
55  v1 = pin.Motion.Random()
56  v2 = pin.Motion.Random()
57  self.assertTrue(np.allclose((v1 + v2).vector, v1.vector + v2.vector))
58  self.assertTrue(np.allclose((v1 - v2).vector, v1.vector - v2.vector))
59 
60  def test_se3_action(self):
61  m = pin.SE3.Random()
62  v = pin.Motion.Random()
63  self.assertTrue(np.allclose((m * v).vector, m.action.dot(v.vector)))
64  self.assertTrue(np.allclose(m.act(v).vector, m.action.dot(v.vector)))
65  self.assertTrue(
66  np.allclose((m.actInv(v)).vector, np.linalg.inv(m.action).dot(v.vector))
67  )
68  self.assertTrue(np.allclose((v ^ v).vector, zero(6)))
69 
70  def test_conversion(self):
71  m = pin.Motion.Random()
72  m_array = np.array(m)
73 
74  m_from_array = pin.Motion(m_array)
75 
76  self.assertTrue(m_from_array == m)
77 
78  def test_several_init(self):
79  for _ in range(100000):
80  v = pin.Motion.Zero() + pin.Motion.Zero()
81  self.assertTrue(np.allclose(v.vector, zero(6)))
82 
83 
84 if __name__ == "__main__":
85  unittest.main()
bindings_motion.TestMotionBindings.test_se3_action
def test_se3_action(self)
Definition: bindings_motion.py:60
bindings_motion.TestMotionBindings.test_set_linear
def test_set_linear(self)
Definition: bindings_motion.py:30
bindings_motion.TestMotionBindings.test_setZero
def test_setZero(self)
Definition: bindings_motion.py:22
bindings_motion.TestMotionBindings.test_several_init
def test_several_init(self)
Definition: bindings_motion.py:78
bindings_motion.TestMotionBindings.test_setRandom
def test_setRandom(self)
Definition: bindings_motion.py:15
bindings_motion.TestMotionBindings.test_set_vector
def test_set_vector(self)
Definition: bindings_motion.py:48
pinocchio.utils
Definition: bindings/python/pinocchio/utils.py:1
bindings_motion.TestMotionBindings.test_set_angular
def test_set_angular(self)
Definition: bindings_motion.py:39
bindings_motion.TestMotionBindings.test_conversion
def test_conversion(self)
Definition: bindings_motion.py:70
bindings_motion.TestMotionBindings.test_internal_sums
def test_internal_sums(self)
Definition: bindings_motion.py:54
bindings_motion.TestMotionBindings.test_zero_getters
def test_zero_getters(self)
Definition: bindings_motion.py:8
bindings_motion.TestMotionBindings
Definition: bindings_motion.py:7
pinocchio.utils.rand
def rand(n)
Definition: bindings/python/pinocchio/utils.py:42
pinocchio.utils.zero
def zero(n)
Definition: bindings/python/pinocchio/utils.py:38


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autogenerated on Sun Jun 16 2024 02:43:06