488 lines
16 KiB
C++
488 lines
16 KiB
C++
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/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <string>
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/physics/physics.hh"
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#include "gazebo/transport/transport.hh"
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#include "gazebo/test/ServerFixture.hh"
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#include "gazebo/test/helper_physics_generator.hh"
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using namespace gazebo;
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class InertiaMsgsTest : public ServerFixture,
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public testing::WithParamInterface<const char*>
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{
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/// \brief Set inertia parameters over ~/model/modify
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/// and verify that Inertial accessors register the change.
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/// \param[in] _physicsEngine Type of physics engine to use.
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public: void InertialAccessors(const std::string &_physicsEngine);
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/// \brief Set center of mass of link over ~/model/modify
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/// and verify that it causes a seesaw to unbalance.
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/// \param[in] _physicsEngine Type of physics engine to use.
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public: void SetCoG(const std::string &_physicsEngine);
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/// \brief Set mass of link over ~/model/modify
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/// and verify that it causes a seesaw to unbalance.
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/// \param[in] _physicsEngine Type of physics engine to use.
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public: void SetMass(const std::string &_physicsEngine);
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/// \brief Set moment of inertia of pendulums over ~/model/modify
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/// and verify that it changes frequency of oscillation.
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/// \param[in] _physicsEngine Type of physics engine to use.
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public: void SetPendulumInertia(const std::string &_physicsEngine);
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};
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/////////////////////////////////////////////////
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void InertiaMsgsTest::InertialAccessors(const std::string &_physicsEngine)
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{
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this->Load("worlds/seesaw.world", true, _physicsEngine);
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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const std::string modelName("cube1");
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auto model = world->GetModel(modelName);
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ASSERT_TRUE(model != NULL);
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auto link = model->GetLink();
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ASSERT_TRUE(link != NULL);
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auto inertial = link->GetInertial();
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ASSERT_TRUE(inertial != NULL);
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const double mass = inertial->GetMass();
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const math::Vector3 cog = inertial->GetCoG();
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const math::Vector3 Ixxyyzz = inertial->GetPrincipalMoments();
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const math::Vector3 Ixyxzyz = inertial->GetProductsofInertia();
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EXPECT_DOUBLE_EQ(mass, 45.56250000000001);
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EXPECT_EQ(cog, math::Vector3::Zero);
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EXPECT_EQ(Ixxyyzz, 1.537734375*math::Vector3::One);
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EXPECT_EQ(Ixyxzyz, math::Vector3::Zero);
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// new inertial values
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msgs::Model msg;
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msg.set_name(modelName);
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msg.add_link();
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auto msgLink = msg.mutable_link(0);
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msgLink->set_name("link");
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msgLink->set_id(link->GetId());
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auto msgInertial = msgLink->mutable_inertial();
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msgInertial->set_mass(99.9);
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msgInertial->set_ixx(12.3);
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msgInertial->set_ixy(0.123);
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msgInertial->set_ixz(0.456);
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msgInertial->set_iyy(13.4);
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msgInertial->set_iyz(0.789);
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msgInertial->set_izz(15.6);
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const ignition::math::Vector3d newCog(1.1, -2.2, 3.3);
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msgs::Set(msgInertial->mutable_pose(), ignition::math::Pose3d(
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newCog, ignition::math::Quaterniond()));
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// Set inertial properties by publishing to "~/model/modify"
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transport::PublisherPtr modelPub =
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this->node->Advertise<msgs::Model>("~/model/modify");
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modelPub->WaitForConnection();
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modelPub->Publish(msg, true);
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while (newCog != inertial->GetCoG().Ign())
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{
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world->Step(1);
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common::Time::MSleep(1);
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modelPub->Publish(msg, true);
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}
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EXPECT_DOUBLE_EQ(inertial->GetMass(), msgInertial->mass());
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EXPECT_EQ(inertial->GetCoG().Ign(), newCog);
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EXPECT_EQ(inertial->GetPrincipalMoments(),
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ignition::math::Vector3d(
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msgInertial->ixx(),
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msgInertial->iyy(),
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msgInertial->izz()));
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EXPECT_EQ(inertial->GetProductsofInertia(),
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ignition::math::Vector3d(
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msgInertial->ixy(),
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msgInertial->ixz(),
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msgInertial->iyz()));
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}
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/////////////////////////////////////////////////
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TEST_P(InertiaMsgsTest, InertialAccessors)
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{
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InertialAccessors(GetParam());
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}
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/////////////////////////////////////////////////
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void InertiaMsgsTest::SetCoG(const std::string &_physicsEngine)
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{
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this->Load("worlds/seesaw.world", true, _physicsEngine);
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// check the gravity vector
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physics::PhysicsEnginePtr physics = world->GetPhysicsEngine();
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ASSERT_TRUE(physics != NULL);
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EXPECT_EQ(physics->GetType(), _physicsEngine);
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math::Vector3 g = physics->GetGravity();
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EXPECT_EQ(g, math::Vector3(0, 0, -9.8));
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const std::string modelName("plank");
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auto model = world->GetModel(modelName);
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ASSERT_TRUE(model != NULL);
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auto link = model->GetLink();
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ASSERT_TRUE(link != NULL);
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auto inertial = link->GetInertial();
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ASSERT_TRUE(inertial != NULL);
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const double mass = inertial->GetMass();
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const math::Vector3 cog = inertial->GetCoG();
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const math::Vector3 Ixxyyzz = inertial->GetPrincipalMoments();
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const math::Vector3 Ixyxzyz = inertial->GetProductsofInertia();
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EXPECT_DOUBLE_EQ(mass, 120);
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EXPECT_EQ(cog, math::Vector3::Zero);
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EXPECT_EQ(Ixxyyzz, math::Vector3(2.564, 360.064, 362.5));
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EXPECT_EQ(Ixyxzyz, math::Vector3::Zero);
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// new center of mass
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msgs::Model msg;
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msg.set_name(modelName);
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msg.add_link();
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auto msgLink = msg.mutable_link(0);
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msgLink->set_name("link");
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msgLink->set_id(link->GetId());
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auto msgInertial = msgLink->mutable_inertial();
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const ignition::math::Vector3d newCoG(2.5, 0, 0);
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msgs::Set(msgInertial->mutable_pose(), ignition::math::Pose3d(
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newCoG, ignition::math::Quaterniond()));
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// Set inertial properties by publishing to "~/model/modify"
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transport::PublisherPtr modelPub =
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this->node->Advertise<msgs::Model>("~/model/modify");
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modelPub->WaitForConnection();
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modelPub->Publish(msg, true);
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while (newCoG != inertial->GetCoG().Ign())
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{
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world->Step(1);
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common::Time::MSleep(1);
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modelPub->Publish(msg, true);
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}
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EXPECT_EQ(inertial->GetCoG().Ign(), newCoG);
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world->Step(1000);
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EXPECT_GT(model->GetWorldPose().rot.GetAsEuler().y, 0.25);
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}
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/////////////////////////////////////////////////
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TEST_P(InertiaMsgsTest, SetCoG)
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{
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std::string physicsEngine = GetParam();
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if (physicsEngine == "bullet" || physicsEngine == "simbody")
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{
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gzerr << physicsEngine
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<< " doesn't yet support dynamically changing a link's center of mass"
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<< std::endl;
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return;
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}
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SetCoG(GetParam());
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}
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/////////////////////////////////////////////////
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void InertiaMsgsTest::SetMass(const std::string &_physicsEngine)
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{
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this->Load("worlds/seesaw.world", true, _physicsEngine);
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// check the gravity vector
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physics::PhysicsEnginePtr physics = world->GetPhysicsEngine();
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ASSERT_TRUE(physics != NULL);
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EXPECT_EQ(physics->GetType(), _physicsEngine);
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math::Vector3 g = physics->GetGravity();
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EXPECT_EQ(g, math::Vector3(0, 0, -9.8));
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const std::string modelName("cube1");
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auto model = world->GetModel(modelName);
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ASSERT_TRUE(model != NULL);
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auto link = model->GetLink();
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ASSERT_TRUE(link != NULL);
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auto inertial = link->GetInertial();
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ASSERT_TRUE(inertial != NULL);
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const double mass = inertial->GetMass();
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const math::Vector3 cog = inertial->GetCoG();
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const math::Vector3 Ixxyyzz = inertial->GetPrincipalMoments();
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const math::Vector3 Ixyxzyz = inertial->GetProductsofInertia();
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EXPECT_DOUBLE_EQ(mass, 45.56250000000001);
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EXPECT_EQ(cog, math::Vector3::Zero);
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EXPECT_EQ(Ixxyyzz, 1.537734375*math::Vector3::One);
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EXPECT_EQ(Ixyxzyz, math::Vector3::Zero);
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// new inertial values
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msgs::Model msg;
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msg.set_name(modelName);
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msg.add_link();
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auto msgLink = msg.mutable_link(0);
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msgLink->set_name("link");
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msgLink->set_id(link->GetId());
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auto msgInertial = msgLink->mutable_inertial();
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const double newMass = 500;
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msgInertial->set_mass(newMass);
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// Set inertial properties by publishing to "~/model/modify"
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transport::PublisherPtr modelPub =
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this->node->Advertise<msgs::Model>("~/model/modify");
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modelPub->WaitForConnection();
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modelPub->Publish(msg, true);
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while (!math::equal(newMass, inertial->GetMass()))
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{
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world->Step(1);
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common::Time::MSleep(1);
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modelPub->Publish(msg, true);
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}
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EXPECT_DOUBLE_EQ(inertial->GetMass(), msgInertial->mass());
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world->Step(1000);
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EXPECT_LT(model->GetWorldPose().pos.z, 0.40);
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}
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/////////////////////////////////////////////////
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TEST_P(InertiaMsgsTest, SetMass)
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{
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std::string physicsEngine = GetParam();
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if (physicsEngine == "simbody")
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{
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gzerr << physicsEngine
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<< " doesn't yet support dynamically changing a link's mass"
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<< std::endl;
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return;
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}
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SetMass(physicsEngine);
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}
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/////////////////////////////////////////////////
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void InertiaMsgsTest::SetPendulumInertia(const std::string &_physicsEngine)
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{
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this->Load("worlds/pendulum_axes.world", true, _physicsEngine);
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// check the gravity vector
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physics::PhysicsEnginePtr physics = world->GetPhysicsEngine();
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ASSERT_TRUE(physics != NULL);
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EXPECT_EQ(physics->GetType(), _physicsEngine);
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math::Vector3 g = physics->GetGravity();
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EXPECT_EQ(g, math::Vector3(0, 0, -9.8));
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double dt = physics->GetMaxStepSize();
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EXPECT_NEAR(dt, 1e-3, 1e-6);
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std::vector<std::string> modelNames;
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for (auto const &model : world->GetModels())
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{
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std::string name = model->GetName();
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if (name.find("pendulum_") == 0)
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{
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modelNames.push_back(name);
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}
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}
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ASSERT_EQ(modelNames.size(), 6u);
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std::vector<physics::ModelPtr> models;
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std::vector<physics::JointPtr> joints;
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std::vector<physics::LinkPtr> links;
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std::vector<double> pendulumLengths;
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std::vector<double> initialAngles;
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std::vector<double> cycleAngles;
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std::vector<int> cycleCount;
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for (auto const &modelName : modelNames)
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{
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gzdbg << "Initializing model "
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<< modelName
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<< std::endl;
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auto model = world->GetModel(modelName);
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ASSERT_TRUE(model != NULL);
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models.push_back(model);
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auto link = model->GetLink();
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ASSERT_TRUE(link != NULL);
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links.push_back(link);
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auto joint = model->GetJoint("joint");
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ASSERT_TRUE(joint != NULL);
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joints.push_back(joint);
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// Compute distance from cg to joint anchor
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auto linkPose = link->GetWorldCoGPose();
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auto jointPose = joint->GetWorldPose();
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auto jointToCoG = linkPose.pos - jointPose.pos;
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double length = jointToCoG.GetLength();
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EXPECT_NEAR(length, 0.05, 1e-6);
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pendulumLengths.push_back(length);
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double angle =
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asin(jointToCoG.Cross(g).Dot(joint->GetGlobalAxis(0)) / length / 9.8);
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EXPECT_NEAR(angle, -M_PI / 10, 1e-5);
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initialAngles.push_back(angle);
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// hysteresis threshhold for cycle counting
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cycleAngles.push_back(angle / 2);
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// count of oscillation cycles
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cycleCount.push_back(0);
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}
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// unthrottle physics to allow for many timesteps
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physics->SetRealTimeUpdateRate(0.0);
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// simulate 30 seconds and count oscillation cycles
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const int steps = 30000;
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const double timeStepped = steps * dt;
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for (int step = 0; step < steps; ++step)
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{
|
||
|
|
world->Step(1);
|
||
|
|
for (unsigned int i = 0; i < models.size(); ++i)
|
||
|
|
{
|
||
|
|
auto model = models[i];
|
||
|
|
auto joint = joints[i];
|
||
|
|
auto initialAngle = initialAngles[i];
|
||
|
|
auto cycleAngle = cycleAngles[i];
|
||
|
|
|
||
|
|
auto angle = joint->GetAngle(0).Radian() - initialAngle;
|
||
|
|
if (angle / cycleAngle >= 1)
|
||
|
|
{
|
||
|
|
cycleAngles[i] *= -1;
|
||
|
|
cycleCount[i]++;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Verify that expected number of cycles is counted
|
||
|
|
for (unsigned int i = 0; i < models.size(); ++i)
|
||
|
|
{
|
||
|
|
auto length = pendulumLengths[i];
|
||
|
|
auto cycles = cycleCount[i];
|
||
|
|
// expected natural frequency for box pendulum (Hz)
|
||
|
|
// see physics_msgs_inertia.ipynb for derivation
|
||
|
|
double freq = 0.5 * M_1_PI * sqrt(300.0 / 401.0 * g.GetLength() / length);
|
||
|
|
// 2 cycles counted per oscillation
|
||
|
|
double expectedCycles = 2 * freq * timeStepped;
|
||
|
|
EXPECT_EQ(cycles, static_cast<int>(expectedCycles));
|
||
|
|
}
|
||
|
|
|
||
|
|
// modify inertia of each named pendulum
|
||
|
|
for (unsigned int i = 0; i < models.size(); ++i)
|
||
|
|
{
|
||
|
|
auto model = models[i];
|
||
|
|
auto joint = joints[i];
|
||
|
|
auto link = links[i];
|
||
|
|
|
||
|
|
auto inertial = link->GetInertial();
|
||
|
|
ASSERT_TRUE(inertial != NULL);
|
||
|
|
const math::Vector3 Ixxyyzz = inertial->GetPrincipalMoments();
|
||
|
|
const math::Vector3 Ixyxzyz = inertial->GetProductsofInertia();
|
||
|
|
|
||
|
|
// new inertial values
|
||
|
|
msgs::Model msg;
|
||
|
|
msg.set_name(modelNames[i]);
|
||
|
|
msg.add_link();
|
||
|
|
auto msgLink = msg.mutable_link(0);
|
||
|
|
msgLink->set_name("link");
|
||
|
|
msgLink->set_id(link->GetId());
|
||
|
|
auto msgInertial = msgLink->mutable_inertial();
|
||
|
|
msgInertial->set_ixx(Ixxyyzz[0] * 2);
|
||
|
|
msgInertial->set_iyy(Ixxyyzz[1] * 2);
|
||
|
|
msgInertial->set_izz(Ixxyyzz[2] * 2);
|
||
|
|
|
||
|
|
// Set inertial properties by publishing to "~/model/modify"
|
||
|
|
transport::PublisherPtr modelPub =
|
||
|
|
this->node->Advertise<msgs::Model>("~/model/modify");
|
||
|
|
modelPub->WaitForConnection();
|
||
|
|
modelPub->Publish(msg, true);
|
||
|
|
|
||
|
|
while (Ixxyyzz[0] == inertial->GetPrincipalMoments()[0])
|
||
|
|
{
|
||
|
|
world->Step(1);
|
||
|
|
common::Time::MSleep(1);
|
||
|
|
modelPub->Publish(msg, true);
|
||
|
|
}
|
||
|
|
EXPECT_NEAR(2*Ixxyyzz[0], inertial->GetPrincipalMoments()[0], 1e-10);
|
||
|
|
EXPECT_NEAR(2*Ixxyyzz[1], inertial->GetPrincipalMoments()[1], 1e-10);
|
||
|
|
EXPECT_NEAR(2*Ixxyyzz[2], inertial->GetPrincipalMoments()[2], 1e-10);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Reset world and cycle count to restore initial conditions
|
||
|
|
world->Reset();
|
||
|
|
for (unsigned int i = 0; i < cycleCount.size(); ++i)
|
||
|
|
{
|
||
|
|
cycleCount[i] = 0;
|
||
|
|
cycleAngles[i] = initialAngles[i] / 2;
|
||
|
|
}
|
||
|
|
|
||
|
|
// simulate 30 seconds and count oscillation cycles
|
||
|
|
for (int step = 0; step < steps; ++step)
|
||
|
|
{
|
||
|
|
world->Step(1);
|
||
|
|
for (unsigned int i = 0; i < models.size(); ++i)
|
||
|
|
{
|
||
|
|
auto model = models[i];
|
||
|
|
auto joint = joints[i];
|
||
|
|
auto initialAngle = initialAngles[i];
|
||
|
|
auto cycleAngle = cycleAngles[i];
|
||
|
|
|
||
|
|
auto angle = joint->GetAngle(0).Radian() - initialAngle;
|
||
|
|
if (angle / cycleAngle >= 1)
|
||
|
|
{
|
||
|
|
cycleAngles[i] *= -1;
|
||
|
|
cycleCount[i]++;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Verify that expected number of cycles is counted
|
||
|
|
for (unsigned int i = 0; i < models.size(); ++i)
|
||
|
|
{
|
||
|
|
auto length = pendulumLengths[i];
|
||
|
|
auto cycles = cycleCount[i];
|
||
|
|
// expected natural frequency for box pendulum (Hz)
|
||
|
|
// see physics_msgs_inertia.ipynb for derivation
|
||
|
|
double freq = 0.5 * M_1_PI * sqrt(150.0 / 251.0 * g.GetLength() / length);
|
||
|
|
// 2 cycles counted per oscillation
|
||
|
|
double expectedCycles = 2 * freq * timeStepped;
|
||
|
|
EXPECT_EQ(cycles, static_cast<int>(expectedCycles));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////
|
||
|
|
TEST_P(InertiaMsgsTest, SetPendulumInertia)
|
||
|
|
{
|
||
|
|
std::string physicsEngine = GetParam();
|
||
|
|
if (physicsEngine == "simbody")
|
||
|
|
{
|
||
|
|
gzerr << physicsEngine
|
||
|
|
<< " doesn't yet support dynamically changing moment of inertia"
|
||
|
|
<< std::endl;
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
SetPendulumInertia(physicsEngine);
|
||
|
|
}
|
||
|
|
|
||
|
|
INSTANTIATE_TEST_CASE_P(PhysicsEngines, InertiaMsgsTest,
|
||
|
|
PHYSICS_ENGINE_VALUES);
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////
|
||
|
|
int main(int argc, char **argv)
|
||
|
|
{
|
||
|
|
::testing::InitGoogleTest(&argc, argv);
|
||
|
|
return RUN_ALL_TESTS();
|
||
|
|
}
|