mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
ba8964c4ac
This change adds support for calculating Jacobians and dot(Jacobian)*u terms, along with the required support for the 3xN matrices in the standalone math library. It also adds functions to compute kinematics only (position, velocity, accel). To facilitate tests, the Cl also adds a RandomTreeCreator to create randomized multibody trees. Thanks to Thomas Buschmann for this contribution!
114 lines
4.0 KiB
C++
114 lines
4.0 KiB
C++
/// create a bullet btMultiBody model of a tree structured multibody system,
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/// convert that model to a MultiBodyTree model.
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/// Then - run inverse dynamics on random input data (q, u, dot_u) to get forces
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/// - run forward dynamics on (q,u, forces) to get accelerations
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/// - compare input accelerations to inverse dynamics to output from forward dynamics
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#include <cmath>
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#include <cstdio>
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#include <cstdlib>
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#include <functional>
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#include <string>
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#include <btBulletDynamicsCommon.h>
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#include <btMultiBodyTreeCreator.hpp>
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#include <BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h>
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#include <BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h>
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#include <BulletDynamics/Featherstone/btMultiBodyPoint2Point.h>
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#include <BulletDynamics/Featherstone/btMultiBodyLinkCollider.h>
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#include <gtest/gtest.h>
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#include "../../examples/CommonInterfaces/CommonGUIHelperInterface.h"
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#include "../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h"
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#include "../../examples/Importers/ImportURDFDemo/URDF2Bullet.h"
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#include "../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h"
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#include "../../examples/Importers/ImportURDFDemo/URDF2Bullet.h"
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#include "../../examples/Utils/b3ResourcePath.h"
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#include <invdyn_bullet_comparison.hpp>
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#include <btMultiBodyFromURDF.hpp>
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#include <MultiBodyTreeCreator.hpp>
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#include <MultiBodyTreeDebugGraph.hpp>
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#include "Bullet3Common/b3CommandLineArgs.h"
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#include "Bullet3Common/b3Random.h"
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using namespace btInverseDynamics;
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bool FLAGS_verbose=false;
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static btVector3 gravity(0, 0, -10);
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static const bool kBaseFixed = false;
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static const char kUrdfFile[] = "r2d2.urdf";
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/// this test loads the a urdf model with fixed, floating, prismatic and rotational joints,
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/// converts in to an inverse dynamics model and compares forward to inverse dynamics for
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/// random input
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TEST(InvDynCompare, bulletUrdfR2D2) {
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MyBtMultiBodyFromURDF mb_load(gravity, kBaseFixed);
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char relativeFileName[1024];
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ASSERT_TRUE(b3ResourcePath::findResourcePath(kUrdfFile, relativeFileName, 1024));
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mb_load.setFileName(relativeFileName);
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mb_load.init();
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btMultiBodyTreeCreator id_creator;
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btMultiBody *btmb = mb_load.getBtMultiBody();
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ASSERT_EQ(id_creator.createFromBtMultiBody(btmb), 0);
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MultiBodyTree *id_tree = CreateMultiBodyTree(id_creator);
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ASSERT_EQ(0x0 != id_tree, true);
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vecx q(id_tree->numDoFs());
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vecx u(id_tree->numDoFs());
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vecx dot_u(id_tree->numDoFs());
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vecx joint_forces(id_tree->numDoFs());
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const int kNLoops = 10;
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double max_pos_error = 0;
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double max_acc_error = 0;
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b3Srand(0);
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for (int loop = 0; loop < kNLoops; loop++) {
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for (int i = 0; i < q.size(); i++) {
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q(i) = b3RandRange(-B3_PI, B3_PI);
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u(i) = b3RandRange(-B3_PI, B3_PI);
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dot_u(i) = b3RandRange(-B3_PI, B3_PI);
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}
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double pos_error;
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double acc_error;
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btmb->clearForcesAndTorques();
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id_tree->clearAllUserForcesAndMoments();
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// call inverse dynamics once, to get global position & velocity of root body
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// (fixed, so q, u, dot_u arbitrary)
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EXPECT_EQ(id_tree->calculateInverseDynamics(q, u, dot_u, &joint_forces), 0);
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EXPECT_EQ(compareInverseAndForwardDynamics(q, u, dot_u, gravity, FLAGS_verbose, btmb, id_tree,
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&pos_error, &acc_error),
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0);
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if (pos_error > max_pos_error) {
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max_pos_error = pos_error;
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}
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if (acc_error > max_acc_error) {
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max_acc_error = acc_error;
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}
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}
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if (FLAGS_verbose) {
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printf("max_pos_error= %e\n", max_pos_error);
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printf("max_acc_error= %e\n", max_acc_error);
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}
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EXPECT_LT(max_pos_error, std::numeric_limits<idScalar>::epsilon()*1e4);
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EXPECT_LT(max_acc_error, std::numeric_limits<idScalar>::epsilon()*1e5);
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}
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int main(int argc, char **argv) {
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b3CommandLineArgs myArgs(argc,argv);
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FLAGS_verbose = myArgs.CheckCmdLineFlag("verbose");
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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