unittest/sample-models.cpp

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//
// Copyright (c) 2015-2018 CNRS
//
 
#include <iostream>
 
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/geometry.hpp"
#include "pinocchio/multibody/sample-models.hpp"
 
#include <boost/test/unit_test.hpp>
 
BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
 
BOOST_AUTO_TEST_CASE(build_model_sample_humanoid_random)
{
  pinocchio::Model model;
  pinocchio::buildModels::humanoidRandom(model, true);
 
  BOOST_CHECK(model.nq == 33);
  BOOST_CHECK(model.nv == 32);
 
  pinocchio::Model modelff;
  pinocchio::buildModels::humanoidRandom(modelff, false);
 
  BOOST_CHECK(modelff.nq == 32);
  BOOST_CHECK(modelff.nv == 32);
}
 
BOOST_AUTO_TEST_CASE(build_model_sample_manipulator)
{
  pinocchio::Model model;
  pinocchio::buildModels::manipulator(model);
 
  BOOST_CHECK(model.nq == 6);
  BOOST_CHECK(model.nv == 6);
 
#ifdef PINOCCHIO_WITH_HPP_FCL
  pinocchio::Data data(model);
  pinocchio::GeometryModel geom;
  pinocchio::buildModels::manipulatorGeometries(model, geom);
#endif
}
 
BOOST_AUTO_TEST_CASE(build_model_sample_humanoid)
{
  pinocchio::Model model;
  pinocchio::buildModels::humanoid(model);
  pinocchio::Data data(model);
 
  BOOST_CHECK(model.nq == 35);
  BOOST_CHECK(model.nv == 34);
 
#ifdef PINOCCHIO_WITH_HPP_FCL
  pinocchio::GeometryModel geom;
  pinocchio::buildModels::humanoidGeometries(model, geom);
  pinocchio::GeometryData geomdata(geom);
 
  Eigen::VectorXd q = pinocchio::neutral(model);
  pinocchio::forwardKinematics(model, data, q);
  pinocchio::updateGeometryPlacements(model, data, geom, geomdata, q);
#endif
 
  /* We might want to check here the joint namings, and validate the
   * direct geometry with respect to reference values. */
}
 
BOOST_AUTO_TEST_SUITE_END()