def test_impulseDynamics_no_q(self): data4 = self.data data5 = self.model.createData() data6 = self.model.createData() data7_deprecated = self.model.createData() pin.crba(self.model, data4, self.q) pin.crba(self.model, data5, self.q) pin.crba(self.model, data6, self.q) pin.crba(self.model, data7_deprecated, self.q) vnext4 = pin.impulseDynamics(self.model, data4, self.v, self.J) vnext5 = pin.impulseDynamics(self.model, data5, self.v, self.J, r_coeff) vnext6 = pin.impulseDynamics(self.model, data6, self.v, self.J, r_coeff, inv_damping) with warnings.catch_warnings(record=True) as warning_list: vnext7_deprecated = pin.impulseDynamics(self.model, data7_deprecated, self.q, self.v, self.J, r_coeff, False) self.assertTrue( any(item.category == pin.DeprecatedWarning for item in warning_list)) self.assertTrue((vnext4 == vnext5).all()) self.assertTrue((vnext4 == vnext6).all()) self.assertTrue((vnext5 == vnext6).all()) self.assertTrue((vnext7_deprecated == vnext6).all())
def test_impulseDynamics567(self): data5 = self.data data6 = self.model.createData() data7 = self.model.createData() vnext5 = pin.impulseDynamics(self.model,data5,self.q,self.v,self.J) vnext6 = pin.impulseDynamics(self.model,data6,self.q,self.v,self.J,inv_damping) vnext7 = pin.impulseDynamics(self.model,data7,self.q,self.v,self.J,inv_damping,update_kinematics) self.assertTrue((vnext5==vnext6).all()) self.assertTrue((vnext5==vnext7).all()) self.assertTrue((vnext6==vnext7).all())
def test_impulseDynamics567(self): data5 = self.data data6 = self.model.createData() data7 = self.model.createData() vnext5 = pin.impulseDynamics(self.model, data5, self.q, self.v, self.J) vnext6 = pin.impulseDynamics(self.model, data6, self.q, self.v, self.J, inv_damping) vnext7 = pin.impulseDynamics(self.model, data7, self.q, self.v, self.J, inv_damping, update_kinematics) self.assertTrue((vnext5 == vnext6).all()) self.assertTrue((vnext5 == vnext7).all()) self.assertTrue((vnext6 == vnext7).all())
def test_impulseDynamics_rd(self): data_no_q = self.model.createData() vnext = pin.impulseDynamics(self.model, self.data, self.q, self.v0, self.J, r_coeff, inv_damping) self.assertLess(np.linalg.norm(vnext), self.tolerance) pin.crba(self.model, data_no_q, self.q) vnext_no_q = pin.impulseDynamics(self.model, data_no_q, self.v0, self.J, r_coeff, inv_damping) self.assertLess(np.linalg.norm(vnext_no_q), self.tolerance) self.assertApprox(vnext, vnext_no_q)
def test_impulseDynamics567(self): data5 = self.data data6 = self.model.createData() data7 = self.model.createData() data8 = self.model.createData() vnext5 = pin.impulseDynamics(self.model, data5, self.q, self.v, self.J) vnext6 = pin.impulseDynamics(self.model, data6, self.q, self.v, self.J, r_coeff) vnext7 = pin.impulseDynamics(self.model, data7, self.q, self.v, self.J, r_coeff, inv_damping) vnext7_previous = pin.impulseDynamics(self.model, data8, self.q, self.v, self.J, r_coeff, True) self.assertTrue((vnext5 == vnext6).all()) self.assertTrue((vnext5 == vnext7).all()) self.assertTrue((vnext6 == vnext7).all()) self.assertTrue((vnext7_previous == vnext7).all())
def test_impulseDynamics7(self): vnext = pin.impulseDynamics(self.model, self.data, self.q, self.v0, self.J, inv_damping, update_kinematics) self.assertLess(np.linalg.norm(vnext), self.tolerance)
def test_impulseDynamics5(self): vnext = pin.impulseDynamics(self.model, self.data, self.q, self.v0, self.J) self.assertLess(np.linalg.norm(vnext), self.tolerance)
def test_impulseDynamics7(self): vnext = pin.impulseDynamics(self.model,self.data,self.q,self.v0,self.J,inv_damping,update_kinematics) self.assertLess(np.linalg.norm(vnext), self.tolerance)
def test_impulseDynamics5(self): vnext = pin.impulseDynamics(self.model,self.data,self.q,self.v0,self.J) self.assertLess(np.linalg.norm(vnext), self.tolerance)
def test_impulseDynamics7(self): vnext = pin.impulseDynamics(self.model, self.data, self.q, self.v0, self.J, r_coeff, inv_damping) self.assertLess(np.linalg.norm(vnext), self.tolerance)