AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-13 13:20:07 +00:00
Code Issues Releases Wiki Activity

fix InverseDynamics/test_invdyn_kinematics.cpp for single/double precision builds

Browse Source 
use dill_creator for tree structure (not coil_creator)
This commit is contained in:
erwincoumans 2015-11-19 14:33:14 -08:00
parent 75d657ec85
commit 7651d89b98
1 changed files with 28 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

38
test/InverseDynamics/test_invdyn_kinematics.cpp
View File

@ -136,7 +136,7 @@ public:
VecDiffFD(std::string name, int dim, idScalar dt) : m_name(name), m_fd(dim), m_dt(dt) {
for (int i = 0; i < m_fd.size(); i++) {
char buf[256];
BT_ID_SNPRINTF(buf, 256, "%s-%.2d", name.c_str(), i);
BT_ID_SNPRINTF(buf, 256, "%s-%.2d", name.c_str(), i);
m_fd[i].init(buf, dt);
}
}
@ -151,7 +151,16 @@ public:
}
return max_error;
}
idScalar getMaxValue() const {
idScalar max_value = 0;
for (int i = 0; i < m_fd.size(); i++) {
const idScalar value = m_fd[i].getMaxValue();
if (value > max_value) {
max_value= value;
}
}
return max_value;
}
void printMaxError() {
printf("%s: total dt= %e max_error= %e\n", m_name.c_str(), m_dt, getMaxError());
}
@ -233,13 +242,19 @@ int calculateDifferentiationError(const MultiBodyTreeCreator& creator, idScalar
fd_omg.update(body, world_T_body, omega);
fd_acc.update(body, vel, acc);
fd_omgd.update(body, omega, dot_omega);
// fd_vel.printCurrent();
//fd_acc.printCurrent();
//fd_omg.printCurrent();
//fd_omgd.printCurrent();
}
}
*max_linear_velocity_error = fd_vel.getMaxError();
*max_angular_velocity_error = fd_omg.getMaxError();
*max_linear_acceleration_error = fd_acc.getMaxError();
*max_angular_acceleration_error = fd_omgd.getMaxError();
*max_linear_velocity_error = fd_vel.getMaxError()/fd_vel.getMaxValue();
*max_angular_velocity_error = fd_omg.getMaxError()/fd_omg.getMaxValue();
*max_linear_acceleration_error = fd_acc.getMaxError()/fd_acc.getMaxValue();
*max_angular_acceleration_error = fd_omgd.getMaxError()/fd_omgd.getMaxValue();
delete tree;
return 0;
@ -248,13 +263,16 @@ int calculateDifferentiationError(const MultiBodyTreeCreator& creator, idScalar
// first test: absolute difference between numerical and numerial
// differentiation should be small
TEST(InvDynKinematicsDifferentiation, errorAbsolute) {
//CAVEAT:these values are hand-tuned to work for the specific trajectory defined above.
#ifdef BT_ID_USE_DOUBLE_PRECISION
const idScalar kDeltaT = 1e-7;
const idScalar kAcceptableError = 1e-4;
#else
const idScalar kDeltaT = 1e-2;
const idScalar kDeltaT = 1e-4;
const idScalar kAcceptableError = 5e-3;
#endif
const idScalar kDuration = 1e-2;
const idScalar kAcceptableError = 1e-4;
const idScalar kDuration = 0.01;
CoilCreator coil_creator(kNumBodies);
DillCreator dill_creator(kLevel);
@ -276,7 +294,7 @@ TEST(InvDynKinematicsDifferentiation, errorAbsolute) {
EXPECT_LT(max_angular_acceleration_error, kAcceptableError);
// test branched tree
calculateDifferentiationError(coil_creator, kDeltaT, kDuration, &max_linear_velocity_error,
calculateDifferentiationError(dill_creator, kDeltaT, kDuration, &max_linear_velocity_error,
&max_angular_velocity_error, &max_linear_acceleration_error,
&max_angular_acceleration_error);