598 lines
20 KiB
C++
598 lines
20 KiB
C++
/*
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* Copyright (C) 2012 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 0.001
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using namespace gazebo;
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class JointKinematicTest : public ServerFixture,
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public testing::WithParamInterface<const char*>
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{
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/// \brief Test setting joint position. Joint::SetPosition is called
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/// in series with World::Step(1) with physics paused to avoid race
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/// conditions between physics updating link poses and Joint::Angle setting
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/// link poses.
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/// \param[in] _physicsEngine physics engine type [bullet|dart|ode|simbody]
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public: void SetJointPositionTest(const std::string &_physicsEngine);
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/// \brief Test setting joint position. Joint::SetPosition is called
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/// in parallel with World::Step(1) with physics running to check for race
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/// conditions between physics updating link poses and Joint::Angle setting
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/// link poses.
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/// \param[in] _physicsEngine physics engine type [bullet|dart|ode|simbody]
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public: void SetJointPositionThreadedTest(const std::string &_physicsEngine);
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/// \brief Test setting joint position. Joint::SetPosition is called
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/// in series with World::Step(1) with physics paused to avoid race
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/// conditions between physics updating link poses and Joint::Angle setting
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/// link poses.
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/// This test tries to set joint angles of loop joints, the model state
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/// should not change.
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/// \param[in] _physicsEngine physics engine type [bullet|dart|ode|simbody]
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public: void SetJointPositionLoopJointTest(const std::string &_physicsEngine);
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};
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//////////////////////////////////////////////////
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void JointKinematicTest::SetJointPositionTest(const std::string &_physicsEngine)
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{
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// init random seed
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srand(time(NULL));
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unsigned int seed = time(NULL);
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if (_physicsEngine == "bullet")
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{
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gzerr << "Bullet Joint::SetPosition affected by issue #1194.\n";
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return;
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}
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if (_physicsEngine == "dart")
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{
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gzerr << "DART Joint::SetPosition not yet working.\n";
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return;
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}
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if (_physicsEngine == "simbody")
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{
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gzerr << "Simbody Joint::SetPosition not yet working.\n";
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return;
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}
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// Load our screw joint test world
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Load("worlds/set_joint_position.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 pointer to model
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physics::ModelPtr model = world->GetModel("model_1");
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while (!model)
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{
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model = world->GetModel("model_1");
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gzdbg << "waiting for model_1 to spawn\n";
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sleep(1);
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}
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world->SetPaused(false);
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// intentionally break the joint using Link::SetWorldPose
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// let it conflict with Physics pose updates and make sure
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// internal model state stays consistent
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double start_time;
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double start_wall_time;
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const double test_wall_duration = 2.0;
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double elapsed_wall_time;
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const double pub_rate = 10000.0;
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physics::Link_V links;
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links.push_back(model->GetLink("link_1"));
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links.push_back(model->GetLink("link_2"));
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links.push_back(model->GetLink("link_3"));
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links.push_back(model->GetLink("link_4"));
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links.push_back(model->GetLink("link_5"));
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links.push_back(model->GetLink("link_2a"));
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links.push_back(model->GetLink("link_2b"));
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links.push_back(model->GetLink("link_3a"));
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links.push_back(model->GetLink("link_4a"));
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links.push_back(model->GetLink("link_5a"));
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for (physics::Link_V::iterator li = links.begin(); li != links.end(); ++li)
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{
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EXPECT_TRUE((*li) != NULL);
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}
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physics::Joint_V joints;
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joints.push_back(model->GetJoint("model_1::joint_01"));
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joints.push_back(model->GetJoint("model_1::joint_12"));
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// joints.push_back(model->GetJoint("model_1::joint_23"));
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// joints.push_back(model->GetJoint("model_1::joint_34"));
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// joints.push_back(model->GetJoint("model_1::joint_45"));
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// joints.push_back(model->GetJoint("model_1::joint_52"));
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joints.push_back(model->GetJoint("model_1::joint_22a"));
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joints.push_back(model->GetJoint("model_1::joint_2a2b"));
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// joints.push_back(model->GetJoint("model_1::joint_2b3a"));
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// joints.push_back(model->GetJoint("model_1::joint_3a4a"));
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// joints.push_back(model->GetJoint("model_1::joint_4a5a"));
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// joints.push_back(model->GetJoint("model_1::joint_5a2b"));
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for (physics::Joint_V::iterator ji = joints.begin(); ji != joints.end(); ++ji)
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{
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EXPECT_TRUE((*ji) != NULL);
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}
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world->SetPaused(true);
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start_time = world->GetSimTime().Double();
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start_wall_time = common::Time::GetWallTime().Double();
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double last_update_wall_time = -1e16;
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gzdbg << " -------------------------------------------------------------\n";
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gzdbg << " Send random joint position commands for " << test_wall_duration
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<< " secs, see how well Joint::SetPosition deals with random inputs.\n"
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<< " The test is run such that we call Joint::SetPosition in series"
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<< " with World::Step, so there's no physics engine update collision"
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<< " with Link::SetWorldPose from ODEJoint::SetPosition.\n";
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gzdbg << " Calling Joint::SetPosition at [" << pub_rate
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<< "] Hz with real time duration.\n";
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while (common::Time::GetWallTime().Double() <
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start_wall_time + test_wall_duration)
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{
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// limit setting pose to some rate in wall time
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if (common::Time::GetWallTime().Double() - last_update_wall_time
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>= (1.0/pub_rate))
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{
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last_update_wall_time = common::Time::GetWallTime().Double();
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for (physics::Joint_V::iterator ji = joints.begin();
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ji != joints.end(); ++ji)
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{
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(*ji)->SetPosition(0,
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static_cast<double>(rand_r(&seed))/static_cast<double>(RAND_MAX));
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}
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// gzdbg << "debug: running ["
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// << common::Time::GetWallTime().Double()
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// << " / " << start_wall_time + test_wall_duration
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// << "]\n";
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}
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// step simulation
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world->Step(1);
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// gzdbg << "debug: " << common::Time::GetWallTime().Double()
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// << " - " << last_update_wall_time
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// << " >= " << (1.0/pub_rate) << "\n";
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for (physics::Link_V::iterator li = links.begin();
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li != links.end(); ++li)
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{
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math::Vector3 linVel = (*li)->GetWorldLinearVel();
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math::Vector3 angVel = (*li)->GetWorldAngularVel();
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EXPECT_NEAR(linVel.x, 0, TOL);
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EXPECT_NEAR(linVel.y, 0, TOL);
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EXPECT_NEAR(linVel.z, 0, TOL);
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EXPECT_NEAR(angVel.x, 0, TOL);
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EXPECT_NEAR(angVel.y, 0, TOL);
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EXPECT_NEAR(angVel.z, 0, TOL);
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}
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}
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double test_duration = world->GetSimTime().Double() - start_time;
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elapsed_wall_time = common::Time::GetWallTime().Double() - start_wall_time;
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gzdbg << " elapsed sim time [" << test_duration
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<< "] elapsed wall time [" << elapsed_wall_time
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<< "] sim performance [" << test_duration / elapsed_wall_time
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<< "]\n";
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}
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TEST_P(JointKinematicTest, SetJointPositionTest)
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{
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SetJointPositionTest(GetParam());
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}
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//////////////////////////////////////////////////
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void JointKinematicTest::SetJointPositionThreadedTest(
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const std::string &_physicsEngine)
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{
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// init random seed
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srand(time(NULL));
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unsigned int seed = time(NULL);
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if (_physicsEngine == "bullet")
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{
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gzerr << "Bullet Joint::SetPosition affected by issue #1194.\n";
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return;
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}
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if (_physicsEngine == "dart")
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{
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gzerr << "DART Joint::SetPosition not yet working.\n";
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return;
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}
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if (_physicsEngine == "simbody")
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{
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gzerr << "Simbody Joint::SetPosition not yet working.\n";
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return;
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}
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// Load our screw joint test world
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Load("worlds/set_joint_position.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 pointer to model
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physics::ModelPtr model = world->GetModel("model_1");
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while (!model)
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{
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model = world->GetModel("model_1");
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gzdbg << "waiting for model_1 to spawn\n";
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sleep(1);
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}
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world->SetPaused(false);
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// intentionally break the joint using Link::SetWorldPose
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// let it conflict with Physics pose updates and make sure
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// internal model state stays consistent
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double start_time;
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double start_wall_time;
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const double test_wall_duration = 2.0;
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double elapsed_wall_time;
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const double pub_rate = 10000.0;
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physics::Link_V links;
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links.push_back(model->GetLink("link_1"));
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links.push_back(model->GetLink("link_2"));
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links.push_back(model->GetLink("link_3"));
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links.push_back(model->GetLink("link_4"));
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links.push_back(model->GetLink("link_5"));
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links.push_back(model->GetLink("link_2a"));
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links.push_back(model->GetLink("link_2b"));
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links.push_back(model->GetLink("link_3a"));
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links.push_back(model->GetLink("link_4a"));
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links.push_back(model->GetLink("link_5a"));
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for (physics::Link_V::iterator li = links.begin(); li != links.end(); ++li)
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{
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EXPECT_TRUE((*li) != NULL);
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}
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physics::Joint_V joints;
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joints.push_back(model->GetJoint("model_1::joint_01"));
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joints.push_back(model->GetJoint("model_1::joint_12"));
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// joints.push_back(model->GetJoint("model_1::joint_23"));
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// joints.push_back(model->GetJoint("model_1::joint_34"));
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// joints.push_back(model->GetJoint("model_1::joint_45"));
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// joints.push_back(model->GetJoint("model_1::joint_52"));
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joints.push_back(model->GetJoint("model_1::joint_22a"));
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joints.push_back(model->GetJoint("model_1::joint_2a2b"));
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// joints.push_back(model->GetJoint("model_1::joint_2b3a"));
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// joints.push_back(model->GetJoint("model_1::joint_3a4a"));
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// joints.push_back(model->GetJoint("model_1::joint_4a5a"));
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// joints.push_back(model->GetJoint("model_1::joint_5a2b"));
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for (physics::Joint_V::iterator ji = joints.begin(); ji != joints.end(); ++ji)
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{
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EXPECT_TRUE((*ji) != NULL);
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}
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world->SetPaused(false);
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start_time = world->GetSimTime().Double();
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start_wall_time = common::Time::GetWallTime().Double();
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double last_update_wall_time = -1e16;
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gzdbg << " -------------------------------------------------------------\n";
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gzdbg << " Send random joint position commands for " << test_wall_duration
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<< " secs, see how well Joint::SetPosition delas with random inputs.\n"
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<< " The test is run such that we call Joint::SetPosition happens"
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<< " in parallel with phsics update, leading to potential collision"
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<< " with Link::SetWorldPose from ODEJoint::SetPosition.\n";
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gzdbg << " Calling Joint::SetPosition at [" << pub_rate
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<< "] Hz with real time duration.\n";
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while (common::Time::GetWallTime().Double() <
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start_wall_time + test_wall_duration)
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{
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// limit setting pose to some rate in wall time
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if (common::Time::GetWallTime().Double() - last_update_wall_time
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>= (1.0/pub_rate))
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{
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last_update_wall_time = common::Time::GetWallTime().Double();
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for (physics::Joint_V::iterator ji = joints.begin();
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ji != joints.end(); ++ji)
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{
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(*ji)->SetPosition(0,
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static_cast<double>(rand_r(&seed))/static_cast<double>(RAND_MAX));
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}
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// gzdbg << "debug: running ["
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// << common::Time::GetWallTime().Double()
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// << " / " << start_wall_time + test_wall_duration
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// << "]\n";
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}
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// gzdbg << "debug: " << common::Time::GetWallTime().Double()
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// << " - " << last_update_wall_time
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// << " >= " << (1.0/pub_rate) << "\n";
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for (physics::Link_V::iterator li = links.begin();
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li != links.end(); ++li)
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{
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math::Vector3 linVel = (*li)->GetWorldLinearVel();
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math::Vector3 angVel = (*li)->GetWorldAngularVel();
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EXPECT_NEAR(linVel.x, 0, TOL);
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EXPECT_NEAR(linVel.y, 0, TOL);
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EXPECT_NEAR(linVel.z, 0, TOL);
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EXPECT_NEAR(angVel.x, 0, TOL);
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EXPECT_NEAR(angVel.y, 0, TOL);
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EXPECT_NEAR(angVel.z, 0, TOL);
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}
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}
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double test_duration = world->GetSimTime().Double() - start_time;
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elapsed_wall_time = common::Time::GetWallTime().Double() - start_wall_time;
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gzdbg << " elapsed sim time [" << test_duration
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<< "] elapsed wall time [" << elapsed_wall_time
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<< "] sim performance [" << test_duration / elapsed_wall_time
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<< "]\n";
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}
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// This test fails on OSX (see issue #1219)
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// https://bitbucket.org/osrf/gazebo/issues/1219
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#ifndef __APPLE__
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TEST_P(JointKinematicTest, SetJointPositionThreadedTest)
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{
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SetJointPositionThreadedTest(GetParam());
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}
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#endif
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//////////////////////////////////////////////////
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void JointKinematicTest::SetJointPositionLoopJointTest(
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const std::string &_physicsEngine)
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{
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// init random seed
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srand(time(NULL));
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unsigned int seed = time(NULL);
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if (_physicsEngine == "bullet")
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{
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gzerr << "Bullet Joint::SetPosition affected by issue #1194.\n";
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return;
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}
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if (_physicsEngine == "dart")
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{
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gzerr << "DART Joint::SetPosition not yet working.\n";
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return;
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}
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if (_physicsEngine == "simbody")
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{
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gzerr << "Simbody Joint::SetPosition not yet working.\n";
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return;
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}
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// Load our screw joint test world
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Load("worlds/set_joint_position.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 pointer to model
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physics::ModelPtr model = world->GetModel("model_1");
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while (!model)
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{
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model = world->GetModel("model_1");
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gzdbg << "waiting for model_1 to spawn\n";
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sleep(1);
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}
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world->SetPaused(false);
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// intentionally break the joint using Link::SetWorldPose
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// let it conflict with Physics pose updates and make sure
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// internal model state stays consistent
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double start_time;
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double start_wall_time;
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const double iterations = 3;
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double elapsed_wall_time;
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const double pub_rate = 10000.0;
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physics::Link_V links;
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links.push_back(model->GetLink("link_1"));
|
|
links.push_back(model->GetLink("link_2"));
|
|
links.push_back(model->GetLink("link_3"));
|
|
links.push_back(model->GetLink("link_4"));
|
|
links.push_back(model->GetLink("link_5"));
|
|
links.push_back(model->GetLink("link_2a"));
|
|
links.push_back(model->GetLink("link_2b"));
|
|
links.push_back(model->GetLink("link_3a"));
|
|
links.push_back(model->GetLink("link_4a"));
|
|
links.push_back(model->GetLink("link_5a"));
|
|
|
|
for (physics::Link_V::iterator li = links.begin(); li != links.end(); ++li)
|
|
{
|
|
EXPECT_TRUE((*li) != NULL);
|
|
}
|
|
|
|
physics::Joint_V joints;
|
|
// joints.push_back(model->GetJoint("model_1::joint_01"));
|
|
// joints.push_back(model->GetJoint("model_1::joint_12"));
|
|
joints.push_back(model->GetJoint("model_1::joint_23"));
|
|
joints.push_back(model->GetJoint("model_1::joint_34"));
|
|
joints.push_back(model->GetJoint("model_1::joint_45"));
|
|
joints.push_back(model->GetJoint("model_1::joint_52"));
|
|
// joints.push_back(model->GetJoint("model_1::joint_22a"));
|
|
// joints.push_back(model->GetJoint("model_1::joint_2a2b"));
|
|
joints.push_back(model->GetJoint("model_1::joint_2b3a"));
|
|
joints.push_back(model->GetJoint("model_1::joint_3a4a"));
|
|
joints.push_back(model->GetJoint("model_1::joint_4a5a"));
|
|
joints.push_back(model->GetJoint("model_1::joint_5a2b"));
|
|
|
|
for (physics::Joint_V::iterator ji = joints.begin(); ji != joints.end(); ++ji)
|
|
{
|
|
EXPECT_TRUE((*ji) != NULL);
|
|
}
|
|
|
|
std::vector<math::Pose> linkPoses;
|
|
for (physics::Link_V::iterator li = links.begin();
|
|
li != links.end(); ++li)
|
|
linkPoses.push_back((*li)->GetWorldPose());
|
|
|
|
world->SetPaused(true);
|
|
start_time = world->GetSimTime().Double();
|
|
start_wall_time = common::Time::GetWallTime().Double();
|
|
double last_update_wall_time = -1e16;
|
|
|
|
gzdbg << " -------------------------------------------------------------\n";
|
|
gzdbg << " Send random joint position commands for " << iterations
|
|
<< " steps, see how well Joint::SetPosition delas with random inputs.\n"
|
|
<< " The test is run such that we call Joint::SetPosition in series"
|
|
<< " with World::Step, so there's no physics engine update collision"
|
|
<< " with Link::SetWorldPose from ODEJoint::SetPosition.\n";
|
|
gzdbg << " Calling Joint::SetPosition at [" << pub_rate
|
|
<< "] Hz with real time duration.\n";
|
|
for (int i = 0; i < iterations; ++i)
|
|
{
|
|
// limit setting pose to some rate in wall time
|
|
if (common::Time::GetWallTime().Double() - last_update_wall_time
|
|
>= (1.0/pub_rate))
|
|
{
|
|
last_update_wall_time = common::Time::GetWallTime().Double();
|
|
for (physics::Joint_V::iterator ji = joints.begin();
|
|
ji != joints.end(); ++ji)
|
|
{
|
|
(*ji)->SetPosition(0,
|
|
static_cast<double>(rand_r(&seed))/static_cast<double>(RAND_MAX));
|
|
}
|
|
|
|
// gzdbg << "debug: running ["
|
|
// << i << " / " << iterations
|
|
// << "]\n";
|
|
}
|
|
|
|
// step simulation
|
|
world->Step(1);
|
|
|
|
// gzdbg << "debug: " << common::Time::GetWallTime().Double()
|
|
// << " - " << last_update_wall_time
|
|
// << " >= " << (1.0/pub_rate) << "\n";
|
|
|
|
std::vector<math::Pose>::iterator pi = linkPoses.begin();
|
|
for (physics::Link_V::iterator li = links.begin();
|
|
li != links.end(); ++li, ++pi)
|
|
{
|
|
math::Pose pose = (*li)->GetWorldPose();
|
|
EXPECT_NEAR(pose.pos.x, pi->pos.x, TOL);
|
|
EXPECT_NEAR(pose.pos.y, pi->pos.y, TOL);
|
|
EXPECT_NEAR(pose.pos.z, pi->pos.z, TOL);
|
|
EXPECT_NEAR(pose.rot.w, pi->rot.w, TOL);
|
|
EXPECT_NEAR(pose.rot.x, pi->rot.x, TOL);
|
|
EXPECT_NEAR(pose.rot.y, pi->rot.y, TOL);
|
|
EXPECT_NEAR(pose.rot.z, pi->rot.z, TOL);
|
|
}
|
|
}
|
|
|
|
double test_duration = world->GetSimTime().Double() - start_time;
|
|
elapsed_wall_time = common::Time::GetWallTime().Double() - start_wall_time;
|
|
|
|
gzdbg << " elapsed sim time [" << test_duration
|
|
<< "] elapsed wall time [" << elapsed_wall_time
|
|
<< "] sim performance [" << test_duration / elapsed_wall_time
|
|
<< "]\n";
|
|
}
|
|
|
|
TEST_P(JointKinematicTest, SetJointPositionLoopJointTest)
|
|
{
|
|
SetJointPositionLoopJointTest(GetParam());
|
|
}
|
|
|
|
INSTANTIATE_TEST_CASE_P(PhysicsEngines, JointKinematicTest,
|
|
PHYSICS_ENGINE_VALUES);
|
|
|
|
int main(int argc, char **argv)
|
|
{
|
|
::testing::InitGoogleTest(&argc, argv);
|
|
return RUN_ALL_TESTS();
|
|
}
|