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Commit 5e0ca894 authored by Amanda Sanjuan Sánchez's avatar Amanda Sanjuan Sánchez
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new simulation test with more complicated data

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2 merge requests!31devel->main,!30Complete UAV identification setup
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test/CMakeLists.txt
+ 2
− 0
View file @ 5e0ca894
......@@ -37,5 +37,7 @@ wolf_add_gtest(gtest_sensor_force_torque gtest_sensor_force_torque.cpp)
wolf_add_gtest(gtest_sensor_inertial_kinematics gtest_sensor_inertial_kinematics.cpp)
wolf_add_gtest(gtest_simulation_problem_force_torque_inertial_dynamics gtest_simulation_problem_force_torque_inertial_dynamics.cpp)
wolf_add_gtest(gtest_solve_problem_force_torque_inertial_dynamics gtest_solve_problem_force_torque_inertial_dynamics.cpp)
test/dades_simulacio_pep.csv 0 → 100644
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test/gtest_simulation_problem_force_torque_inertial_dynamics.cpp 0 → 100644
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//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
#include "bodydynamics/factor/factor_force_torque_inertial_dynamics.h"
#include "bodydynamics/factor/factor_angular_momentum.h"
#include "bodydynamics/processor/processor_force_torque_inertial_dynamics.h"
#include "bodydynamics/sensor/sensor_force_torque_inertial.h"
#include "bodydynamics/internal/config.h"
#include "bodydynamics/capture/capture_force_torque_inertial.h"
#include <core/sensor/factory_sensor.h>
#include <core/utils/utils_gtest.h>
#include <core/utils/logging.h>
#include <core/utils/params_server.h>
#include <core/yaml/parser_yaml.h>
#include <core/state_block/state_block_derived.h>
#include <core/state_block/factory_state_block.h>
#include <core/ceres_wrapper/solver_ceres.h>
#include <core/math/rotations.h>
#include <core/tree_manager/tree_manager_sliding_window.h>
#include <Eigen/Dense>
#include <Eigen/Geometry>
#include <iostream>
#include <sstream>
#include <fstream>
#include <string>
using namespace wolf;
using namespace bodydynamics::fti;
WOLF_REGISTER_STATEBLOCK_WITH_KEY(L, StateVector3d);
class Test_SolveProblemForceTorqueInertialDynamics_yaml : public testing::Test
{
public:
ProblemPtr P;
SensorForceTorqueInertialPtr S;
ProcessorForceTorqueInertialDynamicsPtr p;
SolverCeresPtr solver;
Vector6d bias_true;
Vector3d cdm_true;
Vector3d inertia_true;
double mass_true;
std::vector<double> time_stamp;
double dt;
Vector3d position_i, vlin_i, vang_i, force_i, torque_i, a_meas_i;
std::vector<Vector3d> position, vlin, vang, force, torque, a_meas;
std::vector<Quaterniond> quaternion;
protected:
void ExtractAndCompleteData()
{
std::ifstream data_simulation;
string data_file = "/home/asanjuan/dev/wolf_lib/bodydynamics/test/dades_simulacio_pep.csv";
data_simulation.open(data_file, std::ios::in);
string line_data;
char delimiter = ',';
std::getline(data_simulation, line_data);
//this acceleration is just to fill a gap, it is not going to be used and it is not true
a_meas.push_back(Vector3d(0,0,0));
int counter = 0;
while (std::getline(data_simulation, line_data))
{
std::stringstream data(line_data);
// time stamp
string string_time_stamp;
std::getline(data, string_time_stamp, delimiter);
time_stamp.push_back(std::stod(string_time_stamp));
WOLF_INFO(time_stamp[counter]);
// position
string string_pos_x;
string string_pos_y;
string string_pos_z;
std::getline(data, string_pos_x, delimiter);
std::getline(data, string_pos_y, delimiter);
std::getline(data, string_pos_z, delimiter);
position_i(0) = std::stod(string_pos_x);
position_i(1) = std::stod(string_pos_y);
position_i(2) = std::stod(string_pos_z);
position.push_back(position_i);
// quaternion
string string_quat_x;
string string_quat_y;
string string_quat_z;
string string_quat_w;
std::getline(data, string_quat_x, delimiter);
std::getline(data, string_quat_y, delimiter);
std::getline(data, string_quat_z, delimiter);
std::getline(data, string_quat_w, delimiter);
Quaterniond quaternion_i(std::stod(string_quat_w),
std::stod(string_quat_x),
std::stod(string_quat_y),
std::stod(string_quat_z));
quaternion.push_back(quaternion_i);
// linear velocity
string string_vlin_x;
string string_vlin_y;
string string_vlin_z;
std::getline(data, string_vlin_x, delimiter);
std::getline(data, string_vlin_y, delimiter);
std::getline(data, string_vlin_z, delimiter);
vlin_i(0) = std::stod(string_vlin_x);
vlin_i(1) = std::stod(string_vlin_y);
vlin_i(2) = std::stod(string_vlin_z);
vlin.push_back(vlin_i);
// angular velocity
string string_vang_x;
string string_vang_y;
string string_vang_z;
std::getline(data, string_vang_x, delimiter);
std::getline(data, string_vang_y, delimiter);
std::getline(data, string_vang_z, delimiter);
vang_i(0) = std::stod(string_vang_x);
vang_i(1) = std::stod(string_vang_y);
vang_i(2) = std::stod(string_vang_z);
vang.push_back(vang_i);
// force
string string_force_x;
string string_force_y;
string string_force_z;
std::getline(data, string_force_x, delimiter);
std::getline(data, string_force_y, delimiter);
std::getline(data, string_force_z, delimiter);
force_i(0) = std::stod(string_force_x);
force_i(1) = std::stod(string_force_y);
force_i(2) = std::stod(string_force_z);
force.push_back(force_i);
// torque
string string_torque_x;
string string_torque_y;
string string_torque_z;
std::getline(data, string_torque_x, delimiter);
std::getline(data, string_torque_y, delimiter);
std::getline(data, string_torque_z, delimiter);
torque_i(0) = std::stod(string_torque_x);
torque_i(1) = std::stod(string_torque_y);
torque_i(2) = std::stod(string_torque_z);
torque.push_back(torque_i);
if (counter != 0)
{
dt = time_stamp[counter] - time_stamp[counter - 1];
a_meas_i = quaternion[counter].conjugate() * ((vlin[counter] - vlin[counter - 1]) / dt + gravity());
a_meas.push_back(a_meas_i);
//We have to be careful with the index
}
counter++;
}
}
void SetUp() override
{
ExtractAndCompleteData();
std::string wolf_root = _WOLF_BODYDYNAMICS_ROOT_DIR;
ParserYaml parser =
ParserYaml("problem_force_torque_inertial_dynamics_solve_test.yaml", wolf_root + "/test/yaml/");
ParamsServer server = ParamsServer(parser.getParams());
P = Problem::autoSetup(server);
// CERES WRAPPER
solver = std::make_shared<SolverCeres>(P);
// solver->getSolverOptions().max_num_iterations = 1e4;
// solver->getSolverOptions().function_tolerance = 1e-15;
// solver->getSolverOptions().gradient_tolerance = 1e-15;
// solver->getSolverOptions().parameter_tolerance = 1e-15;
S = std::static_pointer_cast<SensorForceTorqueInertial>(P->getHardware()->getSensorList().front());
p = std::static_pointer_cast<ProcessorForceTorqueInertialDynamics>(S->getProcessorList().front());
bias_true = Vector6d::Zero();
cdm_true = {0, 0, 0.0341};
inertia_true = {0.0176, 0.0180, 0.0296}; // rounded {0.017598, 0.017957, 0.029599}
mass_true = 1.952;
}
};
TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml, force_registraion)
{
FactorySensor::registerCreator("SensorForceTorqueInertial", SensorForceTorqueInertial::create);
}
TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml, simulation)
{
// Calibration params
Vector3d cdm_guess(0.005, 0.005, 0.1);
S->getStateBlock('C')->setState(cdm_guess);
Vector3d inertia_guess(0.01, 0.01, 0.02);
S->getStateBlock('i')->setState(inertia_guess);
double mass_guess = 2.0;
S->getStateBlock('m')->setState(Vector1d(mass_guess));
S->getStateBlock('P')->fix();
S->getStateBlock('O')->fix();
S->getStateBlock('I')->unfix();
S->getStateBlock('C')->unfix();
S->getStateBlock('i')->unfix();
S->getStateBlock('m')->unfix();
S->setStateBlockDynamic('I', false);
std::string report;
for (int i = 1; i < time_stamp.size(); i++)
{
//SIMULATOR
TimeStamp t = time_stamp[i];
// Data
VectorXd data = VectorXd::Zero(12); // [ a, w, f, t ]
data.segment<3>(0) = a_meas[i];
data.segment<3>(3) = vang[i];
data.segment<3>(6) = force[i];
data.segment<3>(9) = torque[i];
MatrixXd data_cov = MatrixXd::Identity(12, 12);
// ESTIMATOR
CaptureMotionPtr C = std::make_shared<CaptureForceTorqueInertial>(t, S, data, data_cov, nullptr);
C->process();
p->getOrigin()->getFrame()->unfix();
p->getOrigin()->getFrame()->getStateBlock('P')->fix();
p->getOrigin()->getFrame()->getStateBlock('P')->setState(position[i]);
p->getOrigin()->getFrame()->getStateBlock('O')->fix();
p->getOrigin()->getFrame()->getStateBlock('O')->setState(quaternion[i].coeffs());
report = solver->solve(wolf::SolverManager::ReportVerbosity::FULL);
WOLF_INFO("Estimated center of mass: ", S->getStateBlock('C')->getState().transpose(), " m.");
WOLF_INFO("Estimated inertia : ", S->getStateBlock('i')->getState().transpose(), " m^2 Kg.");
WOLF_INFO("Estimated mass : ", S->getStateBlock('m')->getState()(0), " Kg.");
WOLF_INFO("-----------------------------");
}
WOLF_INFO("True center of mass : ", cdm_true.transpose(), " m.");
WOLF_INFO("Guess center of mass : ", cdm_guess.transpose(), " m.");
WOLF_INFO("Estimated center of mass: ", S->getStateBlock('C')->getState().transpose(), " m.");
WOLF_INFO("True inertia : ", inertia_true.transpose(), " m^2 Kg.");
WOLF_INFO("Guess inertia : ", inertia_guess.transpose(), " m^2 Kg.");
WOLF_INFO("Estimated inertia : ", S->getStateBlock('i')->getState().transpose(), " m^2 Kg.");
WOLF_INFO("True mass : ", mass_true, " Kg.");
WOLF_INFO("Guess mass : ", mass_guess, " Kg.");
WOLF_INFO("Estimated mass : ", S->getStateBlock('m')->getState()(0), " Kg.");
WOLF_INFO("-----------------------------");
WOLF_INFO("Acceleration : ", a_meas[1].transpose());
}
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
// ::testing::GTEST_FLAG(filter) =
// "Test_SolveProblemForceTorqueInertialDynamics_yaml.simulation";
return RUN_ALL_TESTS();
}
test/gtest_solve_problem_force_torque_inertial_dynamics.cpp
+ 51
− 34
View file @ 5e0ca894
......@@ -69,10 +69,10 @@ class Test_SolveProblemForceTorqueInertialDynamics_yaml : public testing::Test
P = Problem::autoSetup(server);
// CERES WRAPPER
solver = std::make_shared<SolverCeres>(P);
solver->getSolverOptions().max_num_iterations = 1e4;
solver->getSolverOptions().function_tolerance = 1e-15;
solver->getSolverOptions().gradient_tolerance = 1e-15;
solver->getSolverOptions().parameter_tolerance = 1e-15;
// solver->getSolverOptions().max_num_iterations = 1e4;
// solver->getSolverOptions().function_tolerance = 1e-15;
// solver->getSolverOptions().gradient_tolerance = 1e-15;
// solver->getSolverOptions().parameter_tolerance = 1e-15;
S = std::static_pointer_cast<SensorForceTorqueInertial>(P->getHardware()->getSensorList().front());
p = std::static_pointer_cast<ProcessorForceTorqueInertialDynamics>(S->getProcessorList().front());
......@@ -208,7 +208,10 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml, cdm_only_hovering)
WOLF_INFO("Estimated cdm: ", S->getStateBlock('C')->getState().transpose(), " m.");
WOLF_INFO("-----------------------------");
for (TimeStamp t = p->getLast()->getTimeStamp() + 1.0; t <= 22.0; t += 1.0)
double dt = 0.2;
double time_last = 5.0;
for (TimeStamp t = p->getLast()->getTimeStamp() + dt; t <= time_last; t += dt)
{
CaptureMotionPtr C = std::make_shared<CaptureForceTorqueInertial>(t, S, data, data_cov, nullptr);
C->process();
......@@ -287,7 +290,11 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml, mass_and_cdm_hovering)
// which if not eliminated contaminate the overall solution.
// This is due to these first factors relying on the linearization Jacobian to correct the
// poorly preintegrated delta.
for (TimeStamp t = p->getLast()->getTimeStamp() + 1.0; t <= 50.0; t += 1.0)
double dt = 0.2;
double time_last = 5.0;
for (TimeStamp t = p->getLast()->getTimeStamp() + dt; t <= time_last; t += dt)
{
CaptureMotionPtr C = std::make_shared<CaptureForceTorqueInertial>(t, S, data, data_cov, nullptr);
C->setTimeStamp(t);
......@@ -362,7 +369,10 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml, cdm_and_ang_mom_hoveri
WOLF_INFO("Estimated cdm: ", S->getStateBlock('C')->getState().transpose(), " m.");
WOLF_INFO("-----------------------------");
for (TimeStamp t = p->getLast()->getTimeStamp() + 1.0; t <= 30.0; t += 1.0)
double dt = 0.2;
double time_last = 10.0;
for (TimeStamp t = p->getLast()->getTimeStamp() + dt; t <= time_last; t += dt)
{
CaptureMotionPtr C = std::make_shared<CaptureForceTorqueInertial>(t, S, data, data_cov, nullptr);
C->process();
......@@ -444,7 +454,11 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml, mass_and_cdm_and_ang_m
// which if not eliminated contaminate the overall solution.
// This is due to these first factors relying on the linearization Jacobian to correct the
// poorly preintegrated delta.
for (TimeStamp t = p->getLast()->getTimeStamp() + 1.0; t <= 26.0; t += 1.0)
double dt = 0.2;
double time_last = 10.0;
for (TimeStamp t = p->getLast()->getTimeStamp() + dt; t <= time_last; t += dt)
{
CaptureMotionPtr C = std::make_shared<CaptureForceTorqueInertial>(t, S, data, data_cov, nullptr);
C->setTimeStamp(t);
......@@ -494,12 +508,12 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml, hovering_test_without_
// add regularization to unobservable states
S->addPriorParameter('C', // cdm
Vector1d(cdm_true(2)), // cdm Z
Matrix1d::Identity() * 1e2, // cov Z
Matrix1d::Identity() * 1, // cov Z
2, // start: Z coordinate
1); // size
S->addPriorParameter('i', // inertia
Vector2d(inertia_true.segment<2>(0)), // inertia XY
Matrix2d::Identity() * 1e2, // cov XY
Matrix2d::Identity() * 0.01, // cov XY
0, // start: X coordinate
2); // size: 2
......@@ -547,7 +561,11 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml, hovering_test_without_
// which if not eliminated contaminate the overall solution.
// This is due to these first factors relying on the linearization Jacobian to correct the
// poorly preintegrated delta.
for (TimeStamp t = p->getLast()->getTimeStamp() + 1.0; t <= 30.0; t += 1.0)
double dt = 0.2;
double time_last = 10.0;
for (TimeStamp t = p->getLast()->getTimeStamp() + dt; t <= time_last; t += dt)
{
CaptureMotionPtr C = std::make_shared<CaptureForceTorqueInertial>(t, S, data, data_cov, nullptr);
C->setTimeStamp(t);
......@@ -614,12 +632,12 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml, torque_yaw_constant)
Vector3d ang_acc_true;
Vector3d angle_true;
Quaterniond quat_true(1, 0, 0, 0);
double dt = 1; // time increment
double dt = 0.2; // time increment
Vector3d position_data(0, 0, 0);
Quaterniond q_data;
std::string report;
for (TimeStamp t = 1.0; t <= 18.0; t += 1.0)
for (TimeStamp t = dt; t <= 5.0; t += dt)
{
// SIMULATOR
......@@ -729,11 +747,11 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml, torque_yaw_constant__u
// initialiation of all the variables needed in the following iteration process
// Vector3d dL;
double dt = 0.2; // time increment
double dt = 0.1; // time increment
unsigned int last_kf_id = p->getOrigin()->getFrame()->id();
std::string report;
for (TimeStamp t = dt; t <= 8.0; t += dt)
for (TimeStamp t = dt; t <= 10.0; t += dt)
{
// SIMULATOR
......@@ -865,12 +883,12 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml, torque_yaw_constant__u
// add regularization to unobservable states
S->addPriorParameter('C', // cdm
Vector1d(cdm_true(2)), // cdm Z
Matrix1d::Identity() * 1e2, // cov Z
Matrix1d::Identity() * 1, // cov Z
2, // start: Z coordinate
1); // size
S->addPriorParameter('i', // inertia
Vector2d(inertia_true.segment<2>(0)), // inertia XY
Matrix2d::Identity() * 1e2, // cov XY
Matrix2d::Identity() * 0.01, // cov XY
0, // start: X coordinate
2); // size: 2
......@@ -976,7 +994,7 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml,
Vector3d acc_true = -gravity();
Vector3d ang_vel_true = Vector3d(0, 0, 0);
Vector3d force_true = -mass_true * gravity();
Vector3d torque_true = Vector3d(0, 0, 0.01);
Vector3d torque_true = Vector3d(0, 0, 0.1);
Vector3d position_true = Vector3d(0, 0, 0);
Quaterniond quat_true = Quaterniond(1, 0, 0, 0);
Vector3d ang_acc_true = inertia_true.asDiagonal().inverse() * torque_true;
......@@ -987,10 +1005,10 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml,
// bias_true.setZero();
// Noise
Vector3d acc_noise = 0*Vector3d::Random() * S->getParamsSensorForceTorqueInertial()->acc_noise_std;
Vector3d gyro_noise = 0*Vector3d::Random() * S->getParamsSensorForceTorqueInertial()->gyro_noise_std;
Vector3d force_noise = 0*Vector3d::Random() * S->getParamsSensorForceTorqueInertial()->force_noise_std;
Vector3d torque_noise = 0*Vector3d::Random() * S->getParamsSensorForceTorqueInertial()->torque_noise_std;
Vector3d acc_noise = 0 * Vector3d::Random() * S->getParamsSensorForceTorqueInertial()->acc_noise_std;
Vector3d gyro_noise = 0 * Vector3d::Random() * S->getParamsSensorForceTorqueInertial()->gyro_noise_std;
Vector3d force_noise = 0 * Vector3d::Random() * S->getParamsSensorForceTorqueInertial()->force_noise_std;
Vector3d torque_noise = 0 * Vector3d::Random() * S->getParamsSensorForceTorqueInertial()->torque_noise_std;
// Data -- hovering and constant torque in yaw
VectorXd data = VectorXd::Zero(12); // [ a, w, f, t ]
......@@ -1025,12 +1043,12 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml,
// add regularization to unobservable states
S->addPriorParameter('C', // cdm
Vector1d(cdm_true(2)), // cdm Z
Matrix1d::Identity() * .1, // cov Z
Matrix1d::Identity() * 1, // cov Z
2, // start: Z coordinate
1); // size
S->addPriorParameter('i', // inertia
Vector2d(inertia_true.segment<2>(0)), // inertia XY
Matrix2d::Identity() * .01, // cov XY
Matrix2d::Identity() * .001, // cov XY
0, // start: X coordinate
2); // size: 2
......@@ -1047,8 +1065,8 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml,
C_KF0->getFrame()->getStateBlock('O')->setState(orient_data);
// initialiation of all the variables needed in the following iteration process
double t_final = 24.0; // total run time
double dt = 0.1; // time increment
double t_final = 2.40; // total run time
double dt = 0.01; // time increment
unsigned int last_kf_id = p->getOrigin()->getFrame()->id();
std::string report;
......@@ -1065,9 +1083,9 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml,
// noises
acc_noise = Vector3d::Random() * S->getParamsSensorForceTorqueInertial()->acc_noise_std;
gyro_noise = 0*Vector3d::Random() * S->getParamsSensorForceTorqueInertial()->gyro_noise_std;
force_noise = 0*Vector3d::Random() * S->getParamsSensorForceTorqueInertial()->force_noise_std;
torque_noise = 0*Vector3d::Random() * S->getParamsSensorForceTorqueInertial()->torque_noise_std;
gyro_noise = 0 * Vector3d::Random() * S->getParamsSensorForceTorqueInertial()->gyro_noise_std;
force_noise = 0 * Vector3d::Random() * S->getParamsSensorForceTorqueInertial()->force_noise_std;
torque_noise = 0 * Vector3d::Random() * S->getParamsSensorForceTorqueInertial()->torque_noise_std;
// FTI measurements
data.segment<3>(0) = acc_true + acc_bias_true + acc_noise;
......@@ -1099,8 +1117,8 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml,
// solve!
report = solver->solve(wolf::SolverManager::ReportVerbosity::FULL);
//WOLF_INFO(report);
P->print(4,1,1,1);
// WOLF_INFO(report);
// P->print(4,1,1,1);
// results of this iteration
WOLF_INFO("Total angle turned : ", angle_true.transpose(), " rad.");
......@@ -1141,8 +1159,7 @@ TEST_F(Test_SolveProblemForceTorqueInertialDynamics_yaml,
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
::testing::GTEST_FLAG(filter) =
"Test_SolveProblemForceTorqueInertialDynamics_yaml.torque_yaw_constant__unfix_all__nonzero_bias_and_nonzero_"
"noise";
// ::testing::GTEST_FLAG(filter) =
// "Test_SolveProblemForceTorqueInertialDynamics_yaml.torque_yaw_constant__unfix_all__nonzero_bias_and_nonzero_noise";
return RUN_ALL_TESTS();
}
test/yaml/problem_force_torque_inertial_dynamics_solve_test.yaml
+ 2
− 2
View file @ 5e0ca894
......@@ -18,8 +18,8 @@ config:
tree_manager:
type: "TreeManagerSlidingWindow"
plugin: "core"
n_frames: 3
n_fix_first_frames: 1
n_frames: 6
n_fix_first_frames: 0
viral_remove_empty_parent: true
map:
type: "MapBase"
......
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