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Commit b5070f55 authored by Guilhem Saurel's avatar Guilhem Saurel
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Merge branch 'cpp_devel' into devel

parents 0ce3d632 b50c2f86
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benchmark/CMakeLists.txt
+ 16
− 1
View file @ b5070f55
...@@ -8,4 +8,19 @@ FOREACH(BENCHMARK_NAME ${${PROJECT_NAME}_BENCHMARK}) ...@@ -8,4 +8,19 @@ FOREACH(BENCHMARK_NAME ${${PROJECT_NAME}_BENCHMARK})
ADD_EXECUTABLE(${BENCHMARK_NAME} ${BENCHMARK_NAME}.cpp) ADD_EXECUTABLE(${BENCHMARK_NAME} ${BENCHMARK_NAME}.cpp)
PKG_CONFIG_USE_DEPENDENCY(${BENCHMARK_NAME} eigen3) PKG_CONFIG_USE_DEPENDENCY(${BENCHMARK_NAME} eigen3)
TARGET_LINK_LIBRARIES(${BENCHMARK_NAME} ${PROJECT_NAME}) TARGET_LINK_LIBRARIES(${BENCHMARK_NAME} ${PROJECT_NAME})
ENDFOREACH(BENCHMARK_NAME ${${PROJECT_NAME}_BENCHMARK}) ENDFOREACH(BENCHMARK_NAME ${${PROJECT_NAME}_BENCHMARK})
\ No newline at end of file
SET(${PROJECT_NAME}_BENCHMARK_PYTHON
hyq
lqr
talos_arm
talos_legs
unicycle
)
FOREACH(benchmark ${${PROJECT_NAME}_BENCHMARK_PYTHON})
PYTHON_BUILD(. "${benchmark}.py")
ADD_CUSTOM_TARGET("benchmark-${benchmark}"
${CMAKE_COMMAND} -E env PYTHONPATH=${PROJECT_BINARY_DIR}/bindings/python
${PYTHON_EXECUTABLE} -c "from ${benchmark} import *")
ENDFOREACH(benchmark ${${PROJECT_NAME}_BENCHMARK_PYTHON})
benchmark/hyq.py
+ 8
− 6
View file @ b5070f55
import time
import example_robot_data
import numpy as np import numpy as np
import pinocchio
import crocoddyl import crocoddyl
import quadruped_utils import pinocchio
import example_robot_data from crocoddyl.utils.quadruped import SimpleQuadrupedalGaitProblem
import time
T = int(5e3) # number of trials T = int(5e3) # number of trials
MAXITER = 1 MAXITER = 1
...@@ -17,12 +19,12 @@ GAIT = "walking" # 115 nodes ...@@ -17,12 +19,12 @@ GAIT = "walking" # 115 nodes
def runBenchmark(gait_phase): def runBenchmark(gait_phase):
robot_model = example_robot_data.loadHyQ().model robot_model = example_robot_data.loadHyQ().model
lfFoot, rfFoot, lhFoot, rhFoot = 'lf_foot', 'rf_foot', 'lh_foot', 'rh_foot' lfFoot, rfFoot, lhFoot, rhFoot = 'lf_foot', 'rf_foot', 'lh_foot', 'rh_foot'
gait = quadruped_utils.SimpleQuadrupedalGaitProblem(robot_model, lfFoot, rfFoot, lhFoot, rhFoot) gait = SimpleQuadrupedalGaitProblem(robot_model, lfFoot, rfFoot, lhFoot, rhFoot)
q0 = robot_model.referenceConfigurations['half_sitting'].copy() q0 = robot_model.referenceConfigurations['half_sitting'].copy()
v0 = pinocchio.utils.zero(robot_model.nv) v0 = pinocchio.utils.zero(robot_model.nv)
x0 = np.concatenate([q0, v0]) x0 = np.concatenate([q0, v0])
type_of_gait = gait_phase.keys()[0] type_of_gait = list(gait_phase.keys())[0]
value = gait_phase[type_of_gait] value = gait_phase[type_of_gait]
if type_of_gait == 'walking': if type_of_gait == 'walking':
# Creating a walking problem # Creating a walking problem
......
benchmark/lqr.py
+ 6
− 4
View file @ b5070f55
import crocoddyl
import utils
import numpy as np
import time import time
import numpy as np
import crocoddyl
from crocoddyl.utils import LQRDerived
NX = 37 NX = 37
NU = 12 NU = 12
N = 100 # number of nodes N = 100 # number of nodes
...@@ -38,5 +40,5 @@ avrg_duration, min_duration, max_duration = runBenchmark(crocoddyl.ActionModelLQ ...@@ -38,5 +40,5 @@ avrg_duration, min_duration, max_duration = runBenchmark(crocoddyl.ActionModelLQ
print(' CPU time [ms]: {0} ({1}, {2})'.format(avrg_duration, min_duration, max_duration)) print(' CPU time [ms]: {0} ({1}, {2})'.format(avrg_duration, min_duration, max_duration))
print('Python-derived lqr:') print('Python-derived lqr:')
avrg_duration, min_duration, max_duration = runBenchmark(utils.LQRDerived) avrg_duration, min_duration, max_duration = runBenchmark(LQRDerived)
print(' CPU time [ms]: {0} ({1}, {2})'.format(avrg_duration, min_duration, max_duration)) print(' CPU time [ms]: {0} ({1}, {2})'.format(avrg_duration, min_duration, max_duration))
benchmark/talos_legs.py
+ 7
− 5
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import time
import numpy as np import numpy as np
import pinocchio
import crocoddyl import crocoddyl
import biped_utils
import example_robot_data import example_robot_data
import time import pinocchio
from crocoddyl.utils.biped import SimpleBipedGaitProblem
T = int(5e3) # number of trials T = int(5e3) # number of trials
MAXITER = 1 MAXITER = 1
...@@ -13,12 +15,12 @@ GAIT = "walking" # 55 nodes ...@@ -13,12 +15,12 @@ GAIT = "walking" # 55 nodes
def runBenchmark(gait_phase): def runBenchmark(gait_phase):
robot_model = example_robot_data.loadTalosLegs().model robot_model = example_robot_data.loadTalosLegs().model
rightFoot, leftFoot = 'right_sole_link', 'left_sole_link' rightFoot, leftFoot = 'right_sole_link', 'left_sole_link'
gait = biped_utils.SimpleBipedGaitProblem(robot_model, rightFoot, leftFoot) gait = SimpleBipedGaitProblem(robot_model, rightFoot, leftFoot)
q0 = robot_model.referenceConfigurations['half_sitting'].copy() q0 = robot_model.referenceConfigurations['half_sitting'].copy()
v0 = pinocchio.utils.zero(robot_model.nv) v0 = pinocchio.utils.zero(robot_model.nv)
x0 = np.concatenate([q0, v0]) x0 = np.concatenate([q0, v0])
type_of_gait = gait_phase.keys()[0] type_of_gait = list(gait_phase.keys())[0]
value = gait_phase[type_of_gait] value = gait_phase[type_of_gait]
if type_of_gait == 'walking': if type_of_gait == 'walking':
# Creating a walking problem # Creating a walking problem
......
benchmark/unicycle.py
+ 2
− 2
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import crocoddyl import crocoddyl
import utils
import numpy as np import numpy as np
import time import time
from crocoddyl.utils import UnicycleDerived
N = 200 # number of nodes N = 200 # number of nodes
T = int(5e3) # number of trials T = int(5e3) # number of trials
...@@ -36,5 +36,5 @@ avrg_duration, min_duration, max_duration = runBenchmark(crocoddyl.ActionModelUn ...@@ -36,5 +36,5 @@ avrg_duration, min_duration, max_duration = runBenchmark(crocoddyl.ActionModelUn
print(' CPU time [ms]: {0} ({1}, {2})'.format(avrg_duration, min_duration, max_duration)) print(' CPU time [ms]: {0} ({1}, {2})'.format(avrg_duration, min_duration, max_duration))
print('Python-derived unicycle:') print('Python-derived unicycle:')
avrg_duration, min_duration, max_duration = runBenchmark(utils.UnicycleDerived) avrg_duration, min_duration, max_duration = runBenchmark(UnicycleDerived)
print(' CPU time [ms]: {0} ({1}, {2})'.format(avrg_duration, min_duration, max_duration)) print(' CPU time [ms]: {0} ({1}, {2})'.format(avrg_duration, min_duration, max_duration))
bindings/python/crocoddyl/CMakeLists.txt
+ 12
− 1
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...@@ -23,4 +23,15 @@ FOREACH(python ${${PROJECT_NAME}_PYTHON_BINDINGS_FILES}) ...@@ -23,4 +23,15 @@ FOREACH(python ${${PROJECT_NAME}_PYTHON_BINDINGS_FILES})
INSTALL(FILES INSTALL(FILES
"${${PROJECT_NAME}_SOURCE_DIR}/bindings/python/crocoddyl/${python}" "${${PROJECT_NAME}_SOURCE_DIR}/bindings/python/crocoddyl/${python}"
DESTINATION ${PYTHON_SITELIB}/${PROJECT_NAME}) DESTINATION ${PYTHON_SITELIB}/${PROJECT_NAME})
ENDFOREACH(python ${${PROJECT_NAME}_PYTHON_BINDINGS_FILES}) ENDFOREACH(python ${${PROJECT_NAME}_PYTHON_BINDINGS_FILES})
\ No newline at end of file
SET(${PROJECT_NAME}_BINDINGS_UTILS_PYTHON_FILES
__init__.py
biped.py
quadruped.py
)
FOREACH(python ${${PROJECT_NAME}_BINDINGS_UTILS_PYTHON_FILES})
PYTHON_BUILD(utils ${python})
ENDFOREACH(python ${${PROJECT_NAME}_BINDINGS_UTILS_PYTHON_FILES})
examples/biped_utils.py → bindings/python/crocoddyl/utils/biped.py
+ 0
− 0
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File moved
examples/bipedal_walking_from_foot_traj.py
+ 5
− 4
View file @ b5070f55
import sys import sys
import numpy as np import numpy as np
import pinocchio
import crocoddyl import crocoddyl
import biped_utils
import example_robot_data import example_robot_data
import pinocchio
from crocoddyl.utils.biped import SimpleBipedGaitProblem, plotSolution
WITHDISPLAY = 'display' in sys.argv WITHDISPLAY = 'display' in sys.argv
WITHPLOT = 'plot' in sys.argv WITHPLOT = 'plot' in sys.argv
...@@ -20,7 +21,7 @@ x0 = np.concatenate([q0, v0]) ...@@ -20,7 +21,7 @@ x0 = np.concatenate([q0, v0])
# Setting up the 3d walking problem # Setting up the 3d walking problem
rightFoot = 'right_sole_link' rightFoot = 'right_sole_link'
leftFoot = 'left_sole_link' leftFoot = 'left_sole_link'
gait = biped_utils.SimpleBipedGaitProblem(talos_legs.model, rightFoot, leftFoot) gait = SimpleBipedGaitProblem(talos_legs.model, rightFoot, leftFoot)
# Setting up all tasks # Setting up all tasks
GAITPHASES = \ GAITPHASES = \
...@@ -71,4 +72,4 @@ if WITHPLOT: ...@@ -71,4 +72,4 @@ if WITHPLOT:
for i, phase in enumerate(GAITPHASES): for i, phase in enumerate(GAITPHASES):
xs.extend(ddp[i].xs) xs.extend(ddp[i].xs)
us.extend(ddp[i].us) us.extend(ddp[i].us)
biped_utils.plotSolution(talos_legs.model, xs, us) plotSolution(talos_legs.model, xs, us)
examples/quadrupedal_walking_balancing.py
+ 6
− 4
View file @ b5070f55
import sys import sys
import numpy as np import numpy as np
import pinocchio
import crocoddyl import crocoddyl
import quadruped_utils
import example_robot_data import example_robot_data
import pinocchio
from crocoddyl.utils.quadruped import SimpleQuadrupedalGaitProblem, plotSolution
WITHDISPLAY = 'display' in sys.argv WITHDISPLAY = 'display' in sys.argv
WITHPLOT = 'plot' in sys.argv WITHPLOT = 'plot' in sys.argv
...@@ -21,7 +23,7 @@ lfFoot = 'lf_foot' ...@@ -21,7 +23,7 @@ lfFoot = 'lf_foot'
rfFoot = 'rf_foot' rfFoot = 'rf_foot'
lhFoot = 'lh_foot' lhFoot = 'lh_foot'
rhFoot = 'rh_foot' rhFoot = 'rh_foot'
gait = quadruped_utils.SimpleQuadrupedalGaitProblem(hyq.model, lfFoot, rfFoot, lhFoot, rhFoot) gait = SimpleQuadrupedalGaitProblem(hyq.model, lfFoot, rfFoot, lhFoot, rhFoot)
# Setting up all tasks # Setting up all tasks
GAITPHASES = [{ GAITPHASES = [{
...@@ -119,4 +121,4 @@ if WITHPLOT: ...@@ -119,4 +121,4 @@ if WITHPLOT:
for i, phase in enumerate(GAITPHASES): for i, phase in enumerate(GAITPHASES):
xs.extend(ddp[i].xs) xs.extend(ddp[i].xs)
us.extend(ddp[i].us) us.extend(ddp[i].us)
quadruped_utils.plotSolution(hyq.model, xs, us) plotSolution(hyq.model, xs, us)
unittest/bindings/test_actions.py
+ 12
− 10
View file @ b5070f55
import crocoddyl import sys
import utils import unittest
import pinocchio
from random import randint from random import randint
import numpy as np import numpy as np
import unittest
import sys import crocoddyl
import pinocchio
from crocoddyl.utils import DifferentialFreeFwdDynamicsDerived, DifferentialLQRDerived, LQRDerived, UnicycleDerived
class ActionModelAbstractTestCase(unittest.TestCase): class ActionModelAbstractTestCase(unittest.TestCase):
...@@ -59,21 +61,21 @@ class ActionModelAbstractTestCase(unittest.TestCase): ...@@ -59,21 +61,21 @@ class ActionModelAbstractTestCase(unittest.TestCase):
class UnicycleTest(ActionModelAbstractTestCase): class UnicycleTest(ActionModelAbstractTestCase):
MODEL = crocoddyl.ActionModelUnicycle() MODEL = crocoddyl.ActionModelUnicycle()
MODEL_DER = utils.UnicycleDerived() MODEL_DER = UnicycleDerived()
class LQRTest(ActionModelAbstractTestCase): class LQRTest(ActionModelAbstractTestCase):
NX = randint(1, 21) NX = randint(1, 21)
NU = randint(1, NX) NU = randint(1, NX)
MODEL = crocoddyl.ActionModelLQR(NX, NU) MODEL = crocoddyl.ActionModelLQR(NX, NU)
MODEL_DER = utils.LQRDerived(NX, NU) MODEL_DER = LQRDerived(NX, NU)
class DifferentialLQRTest(ActionModelAbstractTestCase): class DifferentialLQRTest(ActionModelAbstractTestCase):
NX = randint(1, 21) NX = randint(1, 21)
NU = randint(1, NX) NU = randint(1, NX)
MODEL = crocoddyl.DifferentialActionModelLQR(NX, NU) MODEL = crocoddyl.DifferentialActionModelLQR(NX, NU)
MODEL_DER = utils.DifferentialLQRDerived(NX, NU) MODEL_DER = DifferentialLQRDerived(NX, NU)
class FreeFwdDynamicsTest(ActionModelAbstractTestCase): class FreeFwdDynamicsTest(ActionModelAbstractTestCase):
...@@ -86,7 +88,7 @@ class FreeFwdDynamicsTest(ActionModelAbstractTestCase): ...@@ -86,7 +88,7 @@ class FreeFwdDynamicsTest(ActionModelAbstractTestCase):
crocoddyl.CostModelFramePlacement( crocoddyl.CostModelFramePlacement(
STATE, crocoddyl.FramePlacement(ROBOT_MODEL.getFrameId("effector_body"), pinocchio.SE3.Random())), 1.) STATE, crocoddyl.FramePlacement(ROBOT_MODEL.getFrameId("effector_body"), pinocchio.SE3.Random())), 1.)
MODEL = crocoddyl.DifferentialActionModelFreeFwdDynamics(STATE, COST_SUM) MODEL = crocoddyl.DifferentialActionModelFreeFwdDynamics(STATE, COST_SUM)
MODEL_DER = utils.DifferentialFreeFwdDynamicsDerived(STATE, COST_SUM) MODEL_DER = DifferentialFreeFwdDynamicsDerived(STATE, COST_SUM)
class FreeFwdDynamicsWithArmatureTest(ActionModelAbstractTestCase): class FreeFwdDynamicsWithArmatureTest(ActionModelAbstractTestCase):
...@@ -100,7 +102,7 @@ class FreeFwdDynamicsWithArmatureTest(ActionModelAbstractTestCase): ...@@ -100,7 +102,7 @@ class FreeFwdDynamicsWithArmatureTest(ActionModelAbstractTestCase):
STATE, crocoddyl.FramePlacement(ROBOT_MODEL.getFrameId("effector_body"), pinocchio.SE3.Random())), 1.) STATE, crocoddyl.FramePlacement(ROBOT_MODEL.getFrameId("effector_body"), pinocchio.SE3.Random())), 1.)
MODEL = crocoddyl.DifferentialActionModelFreeFwdDynamics(STATE, COST_SUM) MODEL = crocoddyl.DifferentialActionModelFreeFwdDynamics(STATE, COST_SUM)
MODEL.armature = 0.1 * np.matrix(np.ones(ROBOT_MODEL.nv)).T MODEL.armature = 0.1 * np.matrix(np.ones(ROBOT_MODEL.nv)).T
MODEL_DER = utils.DifferentialFreeFwdDynamicsDerived(STATE, COST_SUM) MODEL_DER = DifferentialFreeFwdDynamicsDerived(STATE, COST_SUM)
MODEL_DER.set_armature(0.1 * np.matrix(np.ones(ROBOT_MODEL.nv)).T) MODEL_DER.set_armature(0.1 * np.matrix(np.ones(ROBOT_MODEL.nv)).T)
......
unittest/bindings/test_actuations.py
+ 8
− 6
View file @ b5070f55
import sys
import unittest
import numpy as np
import crocoddyl import crocoddyl
import utils
import pinocchio import pinocchio
import numpy as np from crocoddyl.utils import FreeFloatingActuationDerived, FullActuationDerived
import unittest
import sys
class ActuationModelAbstractTestCase(unittest.TestCase): class ActuationModelAbstractTestCase(unittest.TestCase):
...@@ -37,14 +39,14 @@ class FloatingBaseActuationTest(ActuationModelAbstractTestCase): ...@@ -37,14 +39,14 @@ class FloatingBaseActuationTest(ActuationModelAbstractTestCase):
STATE = crocoddyl.StateMultibody(pinocchio.buildSampleModelHumanoidRandom()) STATE = crocoddyl.StateMultibody(pinocchio.buildSampleModelHumanoidRandom())
ACTUATION = crocoddyl.ActuationModelFloatingBase(STATE) ACTUATION = crocoddyl.ActuationModelFloatingBase(STATE)
ACTUATION_DER = utils.FreeFloatingActuationDerived(STATE) ACTUATION_DER = FreeFloatingActuationDerived(STATE)
class FullActuationTest(ActuationModelAbstractTestCase): class FullActuationTest(ActuationModelAbstractTestCase):
STATE = crocoddyl.StateMultibody(pinocchio.buildSampleModelManipulator()) STATE = crocoddyl.StateMultibody(pinocchio.buildSampleModelManipulator())
ACTUATION = crocoddyl.ActuationModelFull(STATE) ACTUATION = crocoddyl.ActuationModelFull(STATE)
ACTUATION_DER = utils.FullActuationDerived(STATE) ACTUATION_DER = FullActuationDerived(STATE)
if __name__ == '__main__': if __name__ == '__main__':
......
unittest/bindings/test_contacts.py
+ 8
− 6
View file @ b5070f55
import sys
import unittest
import numpy as np
import crocoddyl import crocoddyl
import utils
import pinocchio import pinocchio
import numpy as np from crocoddyl.utils import Contact3DDerived, Contact6DDerived
import unittest
import sys
class ContactModelAbstractTestCase(unittest.TestCase): class ContactModelAbstractTestCase(unittest.TestCase):
...@@ -96,7 +98,7 @@ class Contact3DTest(ContactModelAbstractTestCase): ...@@ -96,7 +98,7 @@ class Contact3DTest(ContactModelAbstractTestCase):
gains = pinocchio.utils.rand(2) gains = pinocchio.utils.rand(2)
xref = crocoddyl.FrameTranslation(ROBOT_MODEL.getFrameId('rleg5_joint'), pinocchio.SE3.Random().translation) xref = crocoddyl.FrameTranslation(ROBOT_MODEL.getFrameId('rleg5_joint'), pinocchio.SE3.Random().translation)
CONTACT = crocoddyl.ContactModel3D(ROBOT_STATE, xref, gains) CONTACT = crocoddyl.ContactModel3D(ROBOT_STATE, xref, gains)
CONTACT_DER = utils.Contact3DDerived(ROBOT_STATE, xref, gains) CONTACT_DER = Contact3DDerived(ROBOT_STATE, xref, gains)
class Contact3DMultipleTest(ContactModelMultipleAbstractTestCase): class Contact3DMultipleTest(ContactModelMultipleAbstractTestCase):
...@@ -115,7 +117,7 @@ class Contact6DTest(ContactModelAbstractTestCase): ...@@ -115,7 +117,7 @@ class Contact6DTest(ContactModelAbstractTestCase):
gains = pinocchio.utils.rand(2) gains = pinocchio.utils.rand(2)
Mref = crocoddyl.FramePlacement(ROBOT_MODEL.getFrameId('rleg5_joint'), pinocchio.SE3.Random()) Mref = crocoddyl.FramePlacement(ROBOT_MODEL.getFrameId('rleg5_joint'), pinocchio.SE3.Random())
CONTACT = crocoddyl.ContactModel6D(ROBOT_STATE, Mref, gains) CONTACT = crocoddyl.ContactModel6D(ROBOT_STATE, Mref, gains)
CONTACT_DER = utils.Contact6DDerived(ROBOT_STATE, Mref, gains) CONTACT_DER = Contact6DDerived(ROBOT_STATE, Mref, gains)
class Contact6DMultipleTest(ContactModelMultipleAbstractTestCase): class Contact6DMultipleTest(ContactModelMultipleAbstractTestCase):
......
unittest/bindings/test_costs.py
+ 13
− 10
View file @ b5070f55
import sys
import unittest
import numpy as np
import crocoddyl import crocoddyl
import utils
import pinocchio import pinocchio
import numpy as np from crocoddyl.utils import (CoMPositionCostDerived, ControlCostDerived, FramePlacementCostDerived,
import unittest FrameTranslationCostDerived, FrameVelocityCostDerived, StateCostDerived)
import sys
class CostModelAbstractTestCase(unittest.TestCase): class CostModelAbstractTestCase(unittest.TestCase):
...@@ -123,7 +126,7 @@ class StateCostTest(CostModelAbstractTestCase): ...@@ -123,7 +126,7 @@ class StateCostTest(CostModelAbstractTestCase):
ROBOT_STATE = crocoddyl.StateMultibody(ROBOT_MODEL) ROBOT_STATE = crocoddyl.StateMultibody(ROBOT_MODEL)
COST = crocoddyl.CostModelState(ROBOT_STATE) COST = crocoddyl.CostModelState(ROBOT_STATE)
COST_DER = utils.StateCostDerived(ROBOT_STATE) COST_DER = StateCostDerived(ROBOT_STATE)
class StateCostSumTest(CostModelSumTestCase): class StateCostSumTest(CostModelSumTestCase):
...@@ -138,7 +141,7 @@ class ControlCostTest(CostModelAbstractTestCase): ...@@ -138,7 +141,7 @@ class ControlCostTest(CostModelAbstractTestCase):
ROBOT_STATE = crocoddyl.StateMultibody(ROBOT_MODEL) ROBOT_STATE = crocoddyl.StateMultibody(ROBOT_MODEL)
COST = crocoddyl.CostModelControl(ROBOT_STATE) COST = crocoddyl.CostModelControl(ROBOT_STATE)
COST_DER = utils.ControlCostDerived(ROBOT_STATE) COST_DER = ControlCostDerived(ROBOT_STATE)
class ControlCostSumTest(CostModelSumTestCase): class ControlCostSumTest(CostModelSumTestCase):
...@@ -154,7 +157,7 @@ class CoMPositionCostTest(CostModelAbstractTestCase): ...@@ -154,7 +157,7 @@ class CoMPositionCostTest(CostModelAbstractTestCase):
cref = pinocchio.utils.rand(3) cref = pinocchio.utils.rand(3)
COST = crocoddyl.CostModelCoMPosition(ROBOT_STATE, cref) COST = crocoddyl.CostModelCoMPosition(ROBOT_STATE, cref)
COST_DER = utils.CoMPositionCostDerived(ROBOT_STATE, cref=cref) COST_DER = CoMPositionCostDerived(ROBOT_STATE, cref=cref)
class CoMPositionCostSumTest(CostModelSumTestCase): class CoMPositionCostSumTest(CostModelSumTestCase):
...@@ -171,7 +174,7 @@ class FramePlacementCostTest(CostModelAbstractTestCase): ...@@ -171,7 +174,7 @@ class FramePlacementCostTest(CostModelAbstractTestCase):
Mref = crocoddyl.FramePlacement(ROBOT_MODEL.getFrameId('rleg5_joint'), pinocchio.SE3.Random()) Mref = crocoddyl.FramePlacement(ROBOT_MODEL.getFrameId('rleg5_joint'), pinocchio.SE3.Random())
COST = crocoddyl.CostModelFramePlacement(ROBOT_STATE, Mref) COST = crocoddyl.CostModelFramePlacement(ROBOT_STATE, Mref)
COST_DER = utils.FramePlacementCostDerived(ROBOT_STATE, Mref=Mref) COST_DER = FramePlacementCostDerived(ROBOT_STATE, Mref=Mref)
class FramePlacementCostSumTest(CostModelSumTestCase): class FramePlacementCostSumTest(CostModelSumTestCase):
...@@ -188,7 +191,7 @@ class FrameTranslationCostTest(CostModelAbstractTestCase): ...@@ -188,7 +191,7 @@ class FrameTranslationCostTest(CostModelAbstractTestCase):
xref = crocoddyl.FrameTranslation(ROBOT_MODEL.getFrameId('rleg5_joint'), pinocchio.utils.rand(3)) xref = crocoddyl.FrameTranslation(ROBOT_MODEL.getFrameId('rleg5_joint'), pinocchio.utils.rand(3))
COST = crocoddyl.CostModelFrameTranslation(ROBOT_STATE, xref) COST = crocoddyl.CostModelFrameTranslation(ROBOT_STATE, xref)
COST_DER = utils.FrameTranslationCostDerived(ROBOT_STATE, xref=xref) COST_DER = FrameTranslationCostDerived(ROBOT_STATE, xref=xref)
class FrameTranslationCostSumTest(CostModelSumTestCase): class FrameTranslationCostSumTest(CostModelSumTestCase):
...@@ -205,7 +208,7 @@ class FrameVelocityCostTest(CostModelAbstractTestCase): ...@@ -205,7 +208,7 @@ class FrameVelocityCostTest(CostModelAbstractTestCase):
vref = crocoddyl.FrameMotion(ROBOT_MODEL.getFrameId('rleg5_joint'), pinocchio.Motion.Random()) vref = crocoddyl.FrameMotion(ROBOT_MODEL.getFrameId('rleg5_joint'), pinocchio.Motion.Random())
COST = crocoddyl.CostModelFrameVelocity(ROBOT_STATE, vref) COST = crocoddyl.CostModelFrameVelocity(ROBOT_STATE, vref)
COST_DER = utils.FrameVelocityCostDerived(ROBOT_STATE, vref=vref) COST_DER = FrameVelocityCostDerived(ROBOT_STATE, vref=vref)
class FrameVelocityCostSumTest(CostModelSumTestCase): class FrameVelocityCostSumTest(CostModelSumTestCase):
......
unittest/bindings/test_shooting.py
+ 6
− 4
View file @ b5070f55
import crocoddyl import sys
from utils import UnicycleDerived import unittest
from random import randint from random import randint
import numpy as np import numpy as np
import unittest
import sys import crocoddyl
from crocoddyl.utils import UnicycleDerived
class ShootingProblemTestCase(unittest.TestCase): class ShootingProblemTestCase(unittest.TestCase):
......
unittest/bindings/test_solvers.py
+ 9
− 7
View file @ b5070f55
import crocoddyl import sys
import utils import unittest
import pinocchio
from random import randint from random import randint
import numpy as np import numpy as np
import unittest
import sys import crocoddyl
import pinocchio
from crocoddyl.utils import DDPDerived
class SolverAbstractTestCase(unittest.TestCase): class SolverAbstractTestCase(unittest.TestCase):
...@@ -96,7 +98,7 @@ class SolverAbstractTestCase(unittest.TestCase): ...@@ -96,7 +98,7 @@ class SolverAbstractTestCase(unittest.TestCase):
class UnicycleDDPTest(SolverAbstractTestCase): class UnicycleDDPTest(SolverAbstractTestCase):
MODEL = crocoddyl.ActionModelUnicycle() MODEL = crocoddyl.ActionModelUnicycle()
SOLVER = crocoddyl.SolverDDP SOLVER = crocoddyl.SolverDDP
SOLVER_DER = utils.DDPDerived SOLVER_DER = DDPDerived
class ManipulatorDDPTest(SolverAbstractTestCase): class ManipulatorDDPTest(SolverAbstractTestCase):
...@@ -113,7 +115,7 @@ class ManipulatorDDPTest(SolverAbstractTestCase): ...@@ -113,7 +115,7 @@ class ManipulatorDDPTest(SolverAbstractTestCase):
MODEL = crocoddyl.IntegratedActionModelEuler(crocoddyl.DifferentialActionModelFreeFwdDynamics(STATE, COST_SUM), MODEL = crocoddyl.IntegratedActionModelEuler(crocoddyl.DifferentialActionModelFreeFwdDynamics(STATE, COST_SUM),
1e-3) 1e-3)
SOLVER = crocoddyl.SolverDDP SOLVER = crocoddyl.SolverDDP
SOLVER_DER = utils.DDPDerived SOLVER_DER = DDPDerived
if __name__ == '__main__': if __name__ == '__main__':
......
unittest/bindings/test_states.py
+ 7
− 5
View file @ b5070f55
import crocoddyl import sys
from utils import StateVectorDerived, StateMultibodyDerived import unittest
import pinocchio
from random import randint from random import randint
import numpy as np import numpy as np
import unittest
import sys import crocoddyl
import pinocchio
from crocoddyl.utils import StateMultibodyDerived, StateVectorDerived
class StateAbstractTestCase(unittest.TestCase): class StateAbstractTestCase(unittest.TestCase):
......
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