test_kinematic.cpp

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/* Author: Ioan Sucan */

#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <urdf_parser/urdf_parser.h>
#include <gtest/gtest.h>
#include <sstream>
#include <algorithm>
#include <ctype.h>

static bool sameStringIgnoringWS(const std::string &s1, const std::string &s2)
{
    unsigned int i1 = 0;
    unsigned int i2 = 0;
    while (i1 < s1.size() && isspace(s1[i1])) i1++;
    while (i2 < s2.size() && isspace(s2[i2])) i2++;
    while (i1 < s1.size() && i2 < s2.size())
    {
        if (i1 < s1.size() && i2 < s2.size())
        {
            if (s1[i1] != s2[i2])
                return false;
            i1++;
            i2++;
        }
        while (i1 < s1.size() && isspace(s1[i1])) i1++;
        while (i2 < s2.size() && isspace(s2[i2])) i2++;
    }
    return i1 == s1.size() && i2 == s2.size();
}

TEST(Loading, SimpleRobot)
{
    static const std::string MODEL0 =
        "<?xml version=\"1.0\" ?>"
        "<robot name=\"myrobot\">"
        "  <link name=\"base_link\">"
        "    <collision name=\"base_collision\">"
        "    <origin rpy=\"0 0 0\" xyz=\"0 0 0.165\"/>"
        "    <geometry name=\"base_collision_geom\">"
        "      <box size=\"0.65 0.65 0.23\"/>"
        "    </geometry>"
        "    </collision>"
        "   </link>"
        "</robot>";

    static const std::string SMODEL0 =
        "<?xml version=\"1.0\" ?>"
        "<robot name=\"myrobot\">"
        "<virtual_joint name=\"base_joint\" child_link=\"base_link\" parent_frame=\"odom_combined\" type=\"floating\"/>"
        "</robot>";

    boost::shared_ptr<urdf::ModelInterface> urdfModel = urdf::parseURDF(MODEL0);
    boost::shared_ptr<srdf::Model> srdfModel(new srdf::Model());
    srdfModel->initString(*urdfModel, SMODEL0);

    EXPECT_TRUE(srdfModel->getVirtualJoints().size() == 1);

    moveit::core::RobotModelPtr model(new moveit::core::RobotModel(urdfModel, srdfModel));
    moveit::core::RobotState state(model);

    state.setToDefaultValues();

    //make sure that this copy constructor works
    moveit::core::RobotState new_state(state);

    EXPECT_EQ(new_state.getVariablePosition("base_joint/rot_w"), 1.0);

    EXPECT_EQ(std::string("myrobot"), model->getName());
    EXPECT_EQ((unsigned int)7, new_state.getVariableCount());

    const std::vector<moveit::core::LinkModel*>& links = model->getLinkModels();
    EXPECT_EQ((unsigned int)1, links.size());

    const std::vector<moveit::core::JointModel*>& joints = model->getJointModels();
    EXPECT_EQ((unsigned int)1, joints.size());

    const std::vector<std::string>& pgroups = model->getJointModelGroupNames();
    EXPECT_EQ((unsigned int)0, pgroups.size());
}

TEST(LoadingAndFK, SimpleRobot)
{
    static const std::string MODEL1 =
        "<?xml version=\"1.0\" ?>"
        "<robot name=\"myrobot\">"
        "<link name=\"base_link\">"
        "  <inertial>"
        "    <mass value=\"2.81\"/>"
        "    <origin rpy=\"0 0 0\" xyz=\"0.0 0.099 .0\"/>"
        "    <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
        "  </inertial>"
        "  <collision name=\"my_collision\">"
        "    <origin rpy=\"0 0 -1\" xyz=\"-0.1 0 0\"/>"
        "    <geometry>"
        "      <box size=\"1 2 1\" />"
        "    </geometry>"
        "  </collision>"
        "  <visual>"
        "    <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
        "    <geometry>"
        "      <box size=\"1 2 1\" />"
        "    </geometry>"
        "  </visual>"
        "</link>"
        "</robot>";

    static const std::string SMODEL1 =
        "<?xml version=\"1.0\" ?>"
        "<robot name=\"myrobot\">"
        "<virtual_joint name=\"base_joint\" child_link=\"base_link\" parent_frame=\"odom_combined\" type=\"planar\"/>"
        "<group name=\"base\">"
        "<joint name=\"base_joint\"/>"
        "</group>"
        "</robot>";

    boost::shared_ptr<urdf::ModelInterface> urdfModel = urdf::parseURDF(MODEL1);

    boost::shared_ptr<srdf::Model> srdfModel(new srdf::Model());
    srdfModel->initString(*urdfModel, SMODEL1);

    moveit::core::RobotModelPtr model(new moveit::core::RobotModel(urdfModel, srdfModel));
    moveit::core::RobotState state(model);

    EXPECT_EQ((unsigned int)3, state.getVariableCount());

    state.setToDefaultValues();

    EXPECT_EQ((unsigned int)1, (unsigned int)model->getJointModelCount());
    EXPECT_EQ((unsigned int)3, (unsigned int)model->getJointModels()[0]->getLocalVariableNames().size());


    std::map<std::string, double> joint_values;
    joint_values["base_joint/x"] = 10.0;
    joint_values["base_joint/y"] = 8.0;

    //testing incomplete state
    std::vector<std::string> missing_states;
    state.setVariablePositions(joint_values, missing_states);
    ASSERT_EQ(missing_states.size(), 1);
    EXPECT_EQ(missing_states[0], std::string("base_joint/theta"));
    joint_values["base_joint/theta"] = 0.1;
    
    state.setVariablePositions(joint_values, missing_states);
    ASSERT_EQ(missing_states.size(), 0);

    EXPECT_NEAR(10.0, state.getGlobalLinkTransform("base_link").translation().x(), 1e-5);
    EXPECT_NEAR(8.0, state.getGlobalLinkTransform("base_link").translation().y(), 1e-5);
    EXPECT_NEAR(0.0, state.getGlobalLinkTransform("base_link").translation().z(), 1e-5);

    state.setVariableAcceleration("base_joint/x", 0.0);

    //making sure that values get copied
    moveit::core::RobotState *new_state = new moveit::core::RobotState(state);
    EXPECT_NEAR(10.0, new_state->getGlobalLinkTransform("base_link").translation().x(), 1e-5);
    EXPECT_NEAR(8.0, new_state->getGlobalLinkTransform("base_link").translation().y(), 1e-5);
    EXPECT_NEAR(0.0, new_state->getGlobalLinkTransform("base_link").translation().z(), 1e-5);
    delete new_state;
    
    std::vector<double> jv(state.getVariableCount(), 0.0);
    jv[state.getRobotModel()->getVariableIndex("base_joint/x")] = 10.0;
    jv[state.getRobotModel()->getVariableIndex("base_joint/y")] = 8.0;
    jv[state.getRobotModel()->getVariableIndex("base_joint/theta")] = 0.0;

    state.setVariablePositions(jv);
    EXPECT_NEAR(10.0, state.getGlobalLinkTransform("base_link").translation().x(), 1e-5);
    EXPECT_NEAR(8.0, state.getGlobalLinkTransform("base_link").translation().y(), 1e-5);
    EXPECT_NEAR(0.0, state.getGlobalLinkTransform("base_link").translation().z(), 1e-5);
}

TEST(FK, OneRobot)
{
    static const std::string MODEL2 =
        "<?xml version=\"1.0\" ?>"
        "<robot name=\"one_robot\">"
        "<link name=\"base_link\">"
        "  <inertial>"
        "    <mass value=\"2.81\"/>"
        "    <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 .0\"/>"
        "    <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
        "  </inertial>"
        "  <collision name=\"my_collision\">"
        "    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
        "    <geometry>"
        "      <box size=\"1 2 1\" />"
        "    </geometry>"
        "  </collision>"
        "  <visual>"
        "    <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
        "    <geometry>"
        "      <box size=\"1 2 1\" />"
        "    </geometry>"
        "  </visual>"
        "</link>"
        "<joint name=\"joint_a\" type=\"continuous\">"
        "   <axis xyz=\"0 0 1\"/>"
        "   <parent link=\"base_link\"/>"
        "   <child link=\"link_a\"/>"
        "   <origin rpy=\" 0.0 0 0 \" xyz=\"0.0 0 0 \"/>"
        "</joint>"
        "<link name=\"link_a\">"
        "  <inertial>"
        "    <mass value=\"1.0\"/>"
        "    <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 .0\"/>"
        "    <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
        "  </inertial>"
        "  <collision>"
        "    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
        "    <geometry>"
        "      <box size=\"1 2 1\" />"
        "    </geometry>"
        "  </collision>"
        "  <visual>"
        "    <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
        "    <geometry>"
        "      <box size=\"1 2 1\" />"
        "    </geometry>"
        "  </visual>"
        "</link>"
        "<joint name=\"joint_b\" type=\"fixed\">"
        "  <parent link=\"link_a\"/>"
        "  <child link=\"link_b\"/>"
        "  <origin rpy=\" 0.0 -0.42 0 \" xyz=\"0.0 0.5 0 \"/>"
        "</joint>"
        "<link name=\"link_b\">"
        "  <inertial>"
        "    <mass value=\"1.0\"/>"
        "    <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 .0\"/>"
        "    <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
        "  </inertial>"
        "  <collision>"
        "    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
        "    <geometry>"
        "      <box size=\"1 2 1\" />"
        "    </geometry>"
        "  </collision>"
        "  <visual>"
        "    <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
        "    <geometry>"
        "      <box size=\"1 2 1\" />"
        "    </geometry>"
        "  </visual>"
        "</link>"
        "  <joint name=\"joint_c\" type=\"prismatic\">"
        "    <axis xyz=\"1 0 0\"/>"
        "    <limit effort=\"100.0\" lower=\"0.0\" upper=\"0.09\" velocity=\"0.2\"/>"
        "    <safety_controller k_position=\"20.0\" k_velocity=\"500.0\" soft_lower_limit=\"0.0\" soft_upper_limit=\"0.089\"/>"
        "    <parent link=\"link_b\"/>"
        "    <child link=\"link_c\"/>"
        "    <origin rpy=\" 0.0 0.42 0.0 \" xyz=\"0.0 -0.1 0 \"/>"
        "  </joint>"
        "<link name=\"link_c\">"
        "  <inertial>"
        "    <mass value=\"1.0\"/>"
        "    <origin rpy=\"0 0 0\" xyz=\"0.0 0 .0\"/>"
        "    <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
        "  </inertial>"
        "  <collision>"
        "    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
        "    <geometry>"
        "      <box size=\"1 2 1\" />"
        "    </geometry>"
        "  </collision>"
        "  <visual>"
        "    <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
        "    <geometry>"
        "      <box size=\"1 2 1\" />"
        "    </geometry>"
        "  </visual>"
        "</link>"
        "  <joint name=\"mim_f\" type=\"prismatic\">"
        "    <axis xyz=\"1 0 0\"/>"
        "    <limit effort=\"100.0\" lower=\"0.0\" upper=\"0.19\" velocity=\"0.2\"/>"
        "    <parent link=\"link_c\"/>"
        "    <child link=\"link_d\"/>"
        "    <origin rpy=\" 0.0 0.1 0.0 \" xyz=\"0.1 0.1 0 \"/>"
        "    <mimic joint=\"joint_f\" multiplier=\"1.5\" offset=\"0.1\"/>"
        "  </joint>"
        "  <joint name=\"joint_f\" type=\"prismatic\">"
        "    <axis xyz=\"1 0 0\"/>"
        "    <limit effort=\"100.0\" lower=\"0.0\" upper=\"0.19\" velocity=\"0.2\"/>"
        "    <parent link=\"link_d\"/>"
        "    <child link=\"link_e\"/>"
        "    <origin rpy=\" 0.0 0.1 0.0 \" xyz=\"0.1 0.1 0 \"/>"
        "  </joint>"
        "<link name=\"link_d\">"
        "  <collision>"
        "    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
        "    <geometry>"
        "      <box size=\"1 2 1\" />"
        "    </geometry>"
        "  </collision>"
        "  <visual>"
        "    <origin rpy=\"0 1 0\" xyz=\"0 0.1 0\"/>"
        "    <geometry>"
        "      <box size=\"1 2 1\" />"
        "    </geometry>"
        "  </visual>"
        "</link>"
        "<link name=\"link_e\">"
        "  <collision>"
        "    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
        "    <geometry>"
        "      <box size=\"1 2 1\" />"
        "    </geometry>"
        "  </collision>"
        "  <visual>"
        "    <origin rpy=\"0 1 0\" xyz=\"0 0.1 0\"/>"
        "    <geometry>"
        "      <box size=\"1 2 1\" />"
        "    </geometry>"
        "  </visual>"
        "</link>"
        "</robot>";

    static const std::string SMODEL2 =
        "<?xml version=\"1.0\" ?>"
        "<robot name=\"one_robot\">"
        "<virtual_joint name=\"base_joint\" child_link=\"base_link\" parent_frame=\"odom_combined\" type=\"planar\"/>"
        "<group name=\"base_from_joints\">"
        "<joint name=\"base_joint\"/>"
        "<joint name=\"joint_a\"/>"
        "<joint name=\"joint_c\"/>"
        "</group>"
        "<group name=\"mim_joints\">"
        "<joint name=\"joint_f\"/>"
        "<joint name=\"mim_f\"/>"
        "</group>"
        "<group name=\"base_with_subgroups\">"
        "<group name=\"base_from_base_to_tip\"/>"
        "<joint name=\"joint_c\"/>"
        "</group>"
        "<group name=\"base_from_base_to_tip\">"
        "<chain base_link=\"base_link\" tip_link=\"link_b\"/>"
        "<joint name=\"base_joint\"/>"
        "</group>"
        "<group name=\"base_with_bad_subgroups\">"
        "<group name=\"error\"/>"
        "</group>"
        "</robot>";

    boost::shared_ptr<urdf::ModelInterface> urdfModel = urdf::parseURDF(MODEL2);

    boost::shared_ptr<srdf::Model> srdfModel(new srdf::Model());
    srdfModel->initString(*urdfModel, SMODEL2);

    moveit::core::RobotModelPtr model(new moveit::core::RobotModel(urdfModel, srdfModel));
    
    //testing that the two planning groups are the same
    const moveit::core::JointModelGroup* g_one = model->getJointModelGroup("base_from_joints");
    const moveit::core::JointModelGroup* g_two = model->getJointModelGroup("base_from_base_to_tip");
    const moveit::core::JointModelGroup* g_three = model->getJointModelGroup("base_with_subgroups");
    const moveit::core::JointModelGroup* g_four = model->getJointModelGroup("base_with_bad_subgroups");
    const moveit::core::JointModelGroup* g_mim = model->getJointModelGroup("mim_joints");

    ASSERT_TRUE(g_one != NULL);
    ASSERT_TRUE(g_two != NULL);
    ASSERT_TRUE(g_three != NULL);
    ASSERT_TRUE(g_four == NULL);

    //joint_b is a fixed joint, so no one should have it
    ASSERT_EQ(g_one->getJointModelNames().size(), 3);
    ASSERT_EQ(g_two->getJointModelNames().size(), 3);
    ASSERT_EQ(g_three->getJointModelNames().size(), 4);
    ASSERT_EQ(g_mim->getJointModelNames().size(), 2);

    //only the links in between the joints, and the children of the leafs
    ASSERT_EQ(g_one->getLinkModelNames().size(), 3);
    //g_two only has three links
    ASSERT_EQ(g_two->getLinkModelNames().size(), 3);
    ASSERT_EQ(g_three->getLinkModelNames().size(), 4);

    std::vector<std::string> jmn = g_one->getJointModelNames();
    std::sort(jmn.begin(), jmn.end());
    EXPECT_EQ(jmn[0],"base_joint");
    EXPECT_EQ(jmn[1],"joint_a");
    EXPECT_EQ(jmn[2],"joint_c");
    jmn = g_two->getJointModelNames();
    std::sort(jmn.begin(), jmn.end());
    EXPECT_EQ(jmn[0],"base_joint");
    EXPECT_EQ(jmn[1],"joint_a");
    EXPECT_EQ(jmn[2],"joint_b");
    jmn = g_three->getJointModelNames();
    std::sort(jmn.begin(), jmn.end());
    EXPECT_EQ(jmn[0],"base_joint");
    EXPECT_EQ(jmn[1],"joint_a");
    EXPECT_EQ(jmn[2],"joint_b");
    EXPECT_EQ(jmn[3],"joint_c");

    //but they should have the same links to be updated
    ASSERT_EQ(g_one->getUpdatedLinkModels().size(), 6);
    ASSERT_EQ(g_two->getUpdatedLinkModels().size(), 6);
    ASSERT_EQ(g_three->getUpdatedLinkModels().size(), 6);

    EXPECT_EQ(g_one->getUpdatedLinkModels()[0]->getName(),"base_link");
    EXPECT_EQ(g_one->getUpdatedLinkModels()[1]->getName(),"link_a");
    EXPECT_EQ(g_one->getUpdatedLinkModels()[2]->getName(),"link_b");
    EXPECT_EQ(g_one->getUpdatedLinkModels()[3]->getName(),"link_c");

    EXPECT_EQ(g_two->getUpdatedLinkModels()[0]->getName(),"base_link");
    EXPECT_EQ(g_two->getUpdatedLinkModels()[1]->getName(),"link_a");
    EXPECT_EQ(g_two->getUpdatedLinkModels()[2]->getName(),"link_b");
    EXPECT_EQ(g_two->getUpdatedLinkModels()[3]->getName(),"link_c");

    EXPECT_EQ(g_three->getUpdatedLinkModels()[0]->getName(),"base_link");
    EXPECT_EQ(g_three->getUpdatedLinkModels()[1]->getName(),"link_a");
    EXPECT_EQ(g_three->getUpdatedLinkModels()[2]->getName(),"link_b");
    EXPECT_EQ(g_three->getUpdatedLinkModels()[3]->getName(),"link_c");

    //bracketing so the state gets destroyed before we bring down the model

    moveit::core::RobotState state(model);

    EXPECT_EQ((unsigned int)7, state.getVariableCount());

    state.setToDefaultValues();

    std::map<std::string, double> joint_values;
    joint_values["base_joint/x"]=1.0;
    joint_values["base_joint/y"]=1.0;
    joint_values["base_joint/theta"]=0.5;
    joint_values["joint_a"] = -0.5;
    joint_values["joint_c"] = 0.08;
    state.setVariablePositions(joint_values);
    
    EXPECT_NEAR(1.0, state.getGlobalLinkTransform("base_link").translation().x(), 1e-5);
    EXPECT_NEAR(1.0, state.getGlobalLinkTransform("base_link").translation().y(), 1e-5);
    EXPECT_NEAR(0.0, state.getGlobalLinkTransform("base_link").translation().z(), 1e-5);
    EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("base_link").rotation()).x(), 1e-5);
    EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("base_link").rotation()).y(), 1e-5);
    EXPECT_NEAR(0.247404, Eigen::Quaterniond(state.getGlobalLinkTransform("base_link").rotation()).z(), 1e-5);
    EXPECT_NEAR(0.968912, Eigen::Quaterniond(state.getGlobalLinkTransform("base_link").rotation()).w(), 1e-5);
    
    EXPECT_NEAR(1.0, state.getGlobalLinkTransform("link_a").translation().x(), 1e-5);
    EXPECT_NEAR(1.0, state.getGlobalLinkTransform("link_a").translation().y(), 1e-5);
    EXPECT_NEAR(0.0, state.getGlobalLinkTransform("link_a").translation().z(), 1e-5);
    EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_a").rotation()).x(), 1e-5);
    EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_a").rotation()).y(), 1e-5);
    EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_a").rotation()).z(), 1e-5);
    EXPECT_NEAR(1.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_a").rotation()).w(), 1e-5);
    
    EXPECT_NEAR(1.0, state.getGlobalLinkTransform("link_b").translation().x(), 1e-5);
    EXPECT_NEAR(1.5, state.getGlobalLinkTransform("link_b").translation().y(), 1e-5);
    EXPECT_NEAR(0.0, state.getGlobalLinkTransform("link_b").translation().z(), 1e-5);
    EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_b").rotation()).x(), 1e-5);
    EXPECT_NEAR(-0.2084598, Eigen::Quaterniond(state.getGlobalLinkTransform("link_b").rotation()).y(), 1e-5);
    EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_b").rotation()).z(), 1e-5);
    EXPECT_NEAR(0.97803091, Eigen::Quaterniond(state.getGlobalLinkTransform("link_b").rotation()).w(), 1e-5);

    EXPECT_NEAR(1.08, state.getGlobalLinkTransform("link_c").translation().x(), 1e-5);
    EXPECT_NEAR(1.4, state.getGlobalLinkTransform("link_c").translation().y(), 1e-5);
    EXPECT_NEAR(0.0, state.getGlobalLinkTransform("link_c").translation().z(), 1e-5);
    EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_c").rotation()).x(), 1e-5);
    EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_c").rotation()).y(), 1e-5);
    EXPECT_NEAR(0.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_c").rotation()).z(), 1e-5);
    EXPECT_NEAR(1.0, Eigen::Quaterniond(state.getGlobalLinkTransform("link_c").rotation()).w(), 1e-5);
    
    EXPECT_TRUE(state.satisfiesBounds());

    std::map<std::string, double> upd_a;
    upd_a["joint_a"] = 0.2;
    state.setVariablePositions(upd_a);
    EXPECT_TRUE(state.satisfiesBounds(model->getJointModel("joint_a")));
    EXPECT_NEAR(state.getVariablePosition("joint_a"), 0.2, 1e-3);
    state.enforceBounds();
    EXPECT_NEAR(state.getVariablePosition("joint_a"), 0.2, 1e-3);

    upd_a["joint_a"] = 3.2;
    state.setVariablePositions(upd_a);
    EXPECT_FALSE(state.satisfiesBounds(model->getJointModel("joint_a")));
    EXPECT_NEAR(state.getVariablePosition("joint_a"), 3.2, 1e-3);
    state.enforceBounds();
    EXPECT_NEAR(state.getVariablePosition("joint_a"), -3.083185, 1e-3);
    EXPECT_TRUE(state.satisfiesBounds(model->getJointModel("joint_a")));
}

int main(int argc, char **argv)
{
    testing::InitGoogleTest(&argc, argv);
    return RUN_ALL_TESTS();
}