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)
