149 lines
4.8 KiB
C++
149 lines
4.8 KiB
C++
/*
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* Copyright (C) 2014 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 <gtest/gtest.h>
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#include "gazebo/physics/physics.hh"
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#include "gazebo/physics/Joint.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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#define TOL 1e-6
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#define TOL_CONT 2.0
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using namespace gazebo;
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class JointLiftDragPluginTest : public ServerFixture,
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public testing::WithParamInterface<const char*>
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{
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/// \brief Load example world with a lifting surface plugin
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/// Measure / verify force torques against analytical answers.
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/// \param[in] _physicsEngine Type of physics engine to use.
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public: void LiftDragPlugin1(const std::string &_physicsEngine);
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};
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/////////////////////////////////////////////////
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void JointLiftDragPluginTest::LiftDragPlugin1(const std::string &_physicsEngine)
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{
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if (_physicsEngine != "ode")
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{
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gzlog << "this test works for ode only for now (Link::AddForce)"
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<< " missing for other engines.\n";
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return;
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}
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// Load our force torque test world
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Load("worlds/lift_drag_plugin.world", true, _physicsEngine);
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// Get a pointer to the world, make sure world loads
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// Verify physics engine type
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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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physics->SetGravity(math::Vector3(0, 0, 0));
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// simulate 1 step
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world->Step(1);
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double t = world->GetSimTime().Double();
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// get time step size
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double dt = world->GetPhysicsEngine()->GetMaxStepSize();
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EXPECT_GT(dt, 0);
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gzlog << "dt : " << dt << "\n";
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// verify that time moves forward
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EXPECT_DOUBLE_EQ(t, dt);
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gzlog << "t after one step : " << t << "\n";
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// get joint and get force torque
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physics::ModelPtr model_1 = world->GetModel("lift_drag_demo_model");
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physics::LinkPtr body = model_1->GetLink("body");
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physics::LinkPtr wing_1 = model_1->GetLink("wing_1");
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physics::LinkPtr wing_2 = model_1->GetLink("wing_2");
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physics::JointPtr body_joint = model_1->GetJoint("body_joint");
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physics::JointPtr wing_1_joint = model_1->GetJoint("wing_1_joint");
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physics::JointPtr wing_2_joint = model_1->GetJoint("wing_2_joint");
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// some aero coeffs
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double cla = 4.0;
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double cda = 20.0;
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double dihedral = 0.1;
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double rho = 1.2041;
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double area = 10;
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// double stall_alpha = 10.0;
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double a0 = 0.1;
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// run for 100 seconds
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for (unsigned int i = 0; i < 2400; ++i)
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{
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world->Step(1);
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body->AddForce(math::Vector3(-1, 0, 0));
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if (i > 2385)
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{
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double v = body->GetWorldLinearVel().x;
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double q = 0.5 * rho * v * v;
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double cl = cla * a0 * q * area;
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double cd = cda * a0 * q * area;
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physics::JointWrench body_wrench = body_joint->GetForceTorque(0);
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physics::JointWrench wing_1_wrench = wing_1_joint->GetForceTorque(0);
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physics::JointWrench wing_2_wrench = wing_2_joint->GetForceTorque(0);
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math::Pose wing_1_pose = wing_1->GetWorldPose();
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math::Vector3 wing_1_force =
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wing_1_pose.rot.RotateVector(wing_1_wrench.body2Force);
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math::Vector3 wing_1_torque =
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wing_1_pose.rot.RotateVector(wing_1_wrench.body2Torque);
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math::Pose wing_2_pose = wing_2->GetWorldPose();
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math::Vector3 wing_2_force =
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wing_2_pose.rot.RotateVector(wing_2_wrench.body2Force);
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math::Vector3 wing_2_torque =
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wing_2_pose.rot.RotateVector(wing_2_wrench.body2Torque);
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gzdbg << "body velocity [" << body->GetWorldLinearVel()
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<< "] cl [" << cl
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<< "] cd [" << cd
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<< "] body force [" << body_wrench.body2Force
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<< "] body torque [" << body_wrench.body2Torque
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<< "] wing_1 force [" << wing_1_force
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<< "] wing_1 torque [" << wing_1_torque
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<< "] wing_2 force [" << wing_2_force
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<< "] wing_2 torque [" << wing_2_torque
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<< "]\n";
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EXPECT_NEAR(wing_1_force.z, cl * cos(dihedral), TOL);
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}
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}
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}
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TEST_P(JointLiftDragPluginTest, LiftDragPlugin1)
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{
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LiftDragPlugin1(GetParam());
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}
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INSTANTIATE_TEST_CASE_P(PhysicsEngines, JointLiftDragPluginTest,
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PHYSICS_ENGINE_VALUES);
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int main(int argc, char **argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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