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bouncing_ball_test.cc
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bouncing_ball_test.cc
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#include "drake/examples/bouncing_ball/bouncing_ball.h"
#include <memory>
#include <gtest/gtest.h>
#include "drake/systems/analysis/runge_kutta3_integrator.h"
#include "drake/systems/analysis/simulator.h"
#include "drake/systems/framework/test_utilities/scalar_conversion.h"
namespace drake {
namespace examples {
namespace bouncing_ball {
namespace {
// Computes the drop time from the initial height and the gravitational
// acceleration.
double CalcDropTime(const double g, const double q0) {
DRAKE_DEMAND(g < 0.0);
DRAKE_DEMAND(q0 > 0.0);
// The time that the ball will impact the ground is:
// gt^2/2 + q0 = 0
// Solve the quadratic equation at^2 + bt + c = 0 for t.
const double a = g/2;
const double c = q0;
return std::sqrt(-c/a);
}
// Computes the closed form height and velocity at tf seconds for a bouncing
// ball starting from height q0, subject to gravitational acceleration g,
// and with coefficient of restitution e, assuming that the initial velocity
// is zero. Restitution coefficients of 0 and 1 are the only ones supported.
// Returns a pair of values, the first corresponding to the height at tf,
// the second corresponding to the velocity at tf.
std::pair<double, double> CalcClosedFormHeightAndVelocity(double g,
double e,
double q0,
double tf) {
const double drop_time = CalcDropTime(g, q0);
// Handle the cases appropriately.
if (e == 0.0) {
// TODO(edrumwri): Test these cases when we can handle the Zeno's Paradox
// problem.
if (tf < drop_time) {
// In a ballistic phase.
return std::make_pair(g*tf*tf/2 + q0, g*tf);
} else {
// Ball has hit the ground.
return std::make_pair(0.0, 0.0);
}
}
if (e == 1.0) {
// Get the number of phases that have passed.
int num_phases = static_cast<int>(std::floor(tf / drop_time));
// Get the time within the phase.
const double t = tf - num_phases*drop_time;
// Even phases mean that the ball is falling, odd phases mean that it is
// rising.
if ((num_phases & 1) == 0) {
return std::make_pair(g*t*t/2 + q0, g*t);
} else {
// Get the ball velocity at the time of impact.
const double vf = g*drop_time;
return std::make_pair(g*t*t/2 - vf*t, g*t - vf);
}
}
throw std::logic_error("Invalid restitution coefficient!");
}
class BouncingBallTest : public ::testing::Test {
protected:
void SetUp() override {
dut_ = std::make_unique<BouncingBall<double>>();
context_ = dut_->CreateDefaultContext();
output_ = dut_->AllocateOutput();
derivatives_ = dut_->AllocateTimeDerivatives();
}
systems::VectorBase<double>& continuous_state() {
return context_->get_mutable_continuous_state_vector();
}
const systems::VectorBase<double>& generalized_position() {
return context_->get_continuous_state().get_generalized_position();
}
const systems::VectorBase<double>& generalized_velocity() {
return context_->get_continuous_state().get_generalized_velocity();
}
std::unique_ptr<BouncingBall<double>> dut_; //< The device under test.
std::unique_ptr<systems::Context<double>> context_;
std::unique_ptr<systems::SystemOutput<double>> output_;
std::unique_ptr<systems::ContinuousState<double>> derivatives_;
};
GTEST_TEST(BouncingBall, AutoDiff) {
BouncingBall<AutoDiffXd> ad_plant;
}
TEST_F(BouncingBallTest, Transmogrification) {
ASSERT_TRUE(systems::is_autodiffxd_convertible(*dut_));
ASSERT_TRUE(systems::is_symbolic_convertible(*dut_));
}
TEST_F(BouncingBallTest, Topology) {
ASSERT_EQ(0, dut_->num_input_ports());
ASSERT_EQ(1, dut_->num_output_ports());
const auto& output_port = dut_->get_output_port(0);
EXPECT_EQ(systems::kVectorValued, output_port.get_data_type());
}
TEST_F(BouncingBallTest, Output) {
// Grab a pointer to where the CalcOutput results will be saved.
const auto result = output_->get_vector_data(0);
// Initial state and output.
dut_->CalcOutput(*context_, output_.get());
EXPECT_EQ(10.0, result->GetAtIndex(0));
EXPECT_EQ(0.0, result->GetAtIndex(1));
// New state just propagates through.
continuous_state().SetAtIndex(0, 1.0);
continuous_state().SetAtIndex(1, 2.0);
dut_->CalcOutput(*context_, output_.get());
EXPECT_EQ(1.0, result->GetAtIndex(0));
EXPECT_EQ(2.0, result->GetAtIndex(1));
}
TEST_F(BouncingBallTest, Derivatives) {
// Grab a pointer to where the EvalTimeDerivatives results will be saved.
const auto& result = derivatives_->get_mutable_vector();
// Evaluate time derivatives.
dut_->CalcTimeDerivatives(*context_, derivatives_.get());
EXPECT_EQ(0.0, result.GetAtIndex(0));
EXPECT_EQ(-9.81, result.GetAtIndex(1));
// Test at non-zero velocity.
continuous_state().SetAtIndex(1, 5.3);
dut_->CalcTimeDerivatives(*context_, derivatives_.get());
EXPECT_EQ(5.3, result.GetAtIndex(0));
EXPECT_EQ(-9.81, result.GetAtIndex(1));
}
TEST_F(BouncingBallTest, Accessors) {
// Evaluate accessors specific to the second-order system.
EXPECT_EQ(10.0, generalized_position().GetAtIndex(0));
EXPECT_EQ(0, generalized_velocity().GetAtIndex(0));
}
TEST_F(BouncingBallTest, Simulate) {
// Small errors from time-of-impact isolation tolerances propagate for this
// particular instance of the problem (with restitution coefficient of 1).
// Drake's integrators control local (truncation) rather than global
// (i.e., solution to the initial value problem) error. This means that the
// number of digits of precision obtained will not be equal to the digits of
// precision requested (via the accuracy setting) for longer running times
// than t_final = 10.0.
const double t_final = 10.0;
const double q0 = 1.0;
const double v0 = 0.0;
const double accuracy = 1e-4;
// Prepare to integrate.
// TODO(edrumwri): Update the code below when accuracy is settable purely
// from the context.
drake::systems::Simulator<double> simulator(*dut_, std::move(context_));
simulator.reset_integrator<systems::RungeKutta3Integrator<double>>();
simulator.get_mutable_context().SetAccuracy(accuracy);
simulator.get_mutable_integrator().request_initial_step_size_target(1e-3);
simulator.get_mutable_integrator().set_target_accuracy(accuracy);
// Note: The bouncing ball's witness function is triggered when the ball's
// height is positive then non-positive. As shown below, the maximum step size
// is limited to avoid missing a subsequent bounce in the following situation:
// 1. Bounce detected (previous height positive, current height negative).
// 2. Impact reverses ball's downward velocity to an upward velocity.
// 3. Integrator advances time too far so that the next time the witness
// function is called, the ball's height is again negative.
// 4. Since the witness function sees two subsequent negative heights, the
// witness function is not triggered (so subsequent bounce is missed).
// This situation arises when:
// a. an integrator can simulate parabolic trajectory without error (e.g.,
// 2nd-order integrator) which means the time step can be large, or
// b. a semi-explicit 1st-order integrator has large error tolerances that
// allow for a large time step and two successive negative heights.
ASSERT_EQ(dut_->get_restitution_coef(), 1.0);
const double g = dut_->get_gravitational_acceleration();
const double drop_time = CalcDropTime(g, q0);
simulator.get_mutable_integrator().set_maximum_step_size(drop_time);
simulator.Initialize();
// Set the initial state for the bouncing ball.
systems::VectorBase<double>& xc = simulator.get_mutable_context().
get_mutable_continuous_state_vector();
xc.SetAtIndex(0, q0);
xc.SetAtIndex(1, v0);
// Integrate.
simulator.AdvanceTo(t_final);
EXPECT_EQ(simulator.get_mutable_context().get_time(), t_final);
// Check against closed form solution for the bouncing ball. We anticipate
// some small integration error.
const double tol = accuracy;
double height, velocity;
std::tie(height, velocity) = CalcClosedFormHeightAndVelocity(
dut_->get_gravitational_acceleration(),
dut_->get_restitution_coef(), q0, t_final);
EXPECT_NEAR(xc.GetAtIndex(0), height, tol);
EXPECT_NEAR(xc.GetAtIndex(1), velocity, tol);
}
} // namespace
} // namespace bouncing_ball
} // namespace examples
} // namespace drake