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minimum_distance_constraint_test.cc
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minimum_distance_constraint_test.cc
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#include "drake/multibody/inverse_kinematics/minimum_distance_constraint.h"
#include <limits>
#include "drake/common/test_utilities/expect_throws_message.h"
#include "drake/math/compute_numerical_gradient.h"
#include "drake/math/rigid_transform.h"
#include "drake/multibody/inverse_kinematics/test/inverse_kinematics_test_utilities.h"
#include "drake/solvers/test_utilities/check_constraint_eval_nonsymbolic.h"
namespace drake {
namespace multibody {
using solvers::test::CheckConstraintEvalNonsymbolic;
constexpr int kNumPositionsForTwoFreeBodies{14};
template <typename T>
Vector3<T> ComputeCollisionSphereCenterPosition(
const Vector3<T>& p_WB, const Quaternion<T>& quat_WB,
const math::RigidTransformd& X_BS) {
math::RigidTransform<T> X_WB{quat_WB, p_WB};
return X_WB * (X_BS.translation().cast<T>());
}
class TwoFreeSpheresMinimumDistanceTest : public TwoFreeSpheresTest {
public:
void CheckConstraintBounds(
const MinimumDistanceConstraint& constraint) const {
EXPECT_EQ(constraint.num_constraints(), 1);
EXPECT_TRUE(
CompareMatrices(constraint.lower_bound(),
Vector1d(-std::numeric_limits<double>::infinity())));
EXPECT_TRUE(CompareMatrices(constraint.upper_bound(), Vector1d(1)));
}
void CheckConstraintEvalLargerThanInfluenceDistance(
const MinimumDistanceConstraint& constraint, const Eigen::Vector3d& p_WB1,
const Eigen::Vector3d p_WB2) const {
// Distance larger than influence_distance;
// The penalty should be 0, so is the gradient.
const Eigen::Quaterniond sphere1_quaternion(1, 0, 0, 0);
const Eigen::Quaterniond sphere2_quaternion(1, 0, 0, 0);
Eigen::Matrix<double, kNumPositionsForTwoFreeBodies, 1> q;
q << QuaternionToVectorWxyz(sphere1_quaternion), p_WB1,
QuaternionToVectorWxyz(sphere2_quaternion), p_WB2;
Eigen::VectorXd y_double(1);
constraint.Eval(q, &y_double);
Eigen::Matrix<AutoDiffXd, kNumPositionsForTwoFreeBodies, 1> q_autodiff =
math::InitializeAutoDiff(q);
AutoDiffVecXd y_autodiff(1);
constraint.Eval(q_autodiff, &y_autodiff);
EXPECT_TRUE(constraint.CheckSatisfied(q));
EXPECT_TRUE(constraint.CheckSatisfied(q_autodiff));
EXPECT_EQ(y_double(0), 0);
EXPECT_TRUE(CompareMatrices(
y_autodiff(0).derivatives(),
Eigen::Matrix<double, kNumPositionsForTwoFreeBodies, 1>::Zero()));
CheckConstraintEvalNonsymbolic(constraint, q_autodiff, 1E-12);
}
void CheckConstraintEvalBetweenMinimumAndInfluenceDistance(
const MinimumDistanceConstraint& constraint, const Eigen::Vector3d& p_WB1,
const Eigen::Vector3d p_WB2) const {
const Eigen::Quaterniond sphere1_quaternion(1, 0, 0, 0);
const Eigen::Quaterniond sphere2_quaternion(1, 0, 0, 0);
Eigen::Matrix<double, kNumPositionsForTwoFreeBodies, 1> q;
q << QuaternionToVectorWxyz(sphere1_quaternion), p_WB1,
QuaternionToVectorWxyz(sphere2_quaternion), p_WB2;
Eigen::VectorXd y_double(1);
constraint.Eval(q, &y_double);
Eigen::Matrix<AutoDiffXd, kNumPositionsForTwoFreeBodies, 1> q_autodiff =
math::InitializeAutoDiff(q);
AutoDiffVecXd y_autodiff(1);
constraint.Eval(q_autodiff, &y_autodiff);
EXPECT_TRUE(constraint.CheckSatisfied(q));
EXPECT_TRUE(constraint.CheckSatisfied(q_autodiff));
// Check that the value is strictly greater than 0.
EXPECT_GT(y_double(0), 0);
CheckConstraintEvalNonsymbolic(constraint, q_autodiff, 1E-12);
}
void CheckConstraintEvalSmallerThanMinimumDistance(
const MinimumDistanceConstraint& constraint, const Eigen::Vector3d& p_WB1,
const Eigen::Vector3d p_WB2) const {
const Eigen::Quaterniond sphere1_quaternion(1, 0, 0, 0);
const Eigen::Quaterniond sphere2_quaternion(1, 0, 0, 0);
Eigen::Matrix<double, kNumPositionsForTwoFreeBodies, 1> q;
q << QuaternionToVectorWxyz(sphere1_quaternion), p_WB1,
QuaternionToVectorWxyz(sphere2_quaternion), p_WB2;
Eigen::VectorXd y_double(1);
constraint.Eval(q, &y_double);
Eigen::Matrix<AutoDiffXd, kNumPositionsForTwoFreeBodies, 1> q_autodiff =
math::InitializeAutoDiff(q);
AutoDiffVecXd y_autodiff(1);
constraint.Eval(q_autodiff, &y_autodiff);
EXPECT_FALSE(constraint.CheckSatisfied(q));
EXPECT_FALSE(constraint.CheckSatisfied(q_autodiff));
// Check that the value is strictly greater than 1.
EXPECT_GT(y_double(0), 1);
CheckConstraintEvalNonsymbolic(constraint, q_autodiff, 1E-12);
}
void CheckConstraintEval(const MinimumDistanceConstraint& constraint) {
// Distance between the spheres is larger than influence_distance
Eigen::Vector3d p_WB1(0.2, 1.2, 0.3);
Eigen::Vector3d p_WB2(1.2, -0.4, 2.3);
CheckConstraintEvalLargerThanInfluenceDistance(constraint, p_WB1, p_WB2);
// Distance between the spheres is larger than minimum_distance but less
// than influence_distance
p_WB1 << 0.1, 0.2, 0.3;
p_WB2 = p_WB1 + Eigen::Vector3d(1.0 / 3, 2.0 / 3, 2.0 / 3) *
(radius1_ + radius2_ +
0.5 * (constraint.influence_distance() +
constraint.minimum_distance()));
CheckConstraintEvalBetweenMinimumAndInfluenceDistance(constraint, p_WB1,
p_WB2);
// Two spheres are colliding.
p_WB1 << 0.1, 0.2, 0.3;
p_WB2 << 0.11, 0.21, 0.31;
CheckConstraintEvalSmallerThanMinimumDistance(constraint, p_WB1, p_WB2);
// Two spheres are separated, but their distance is smaller than
// minimum_distance.
p_WB1 << 0.1, 0.2, 0.3;
p_WB2 = p_WB1 +
Eigen::Vector3d(1.0 / 3, 2.0 / 3, 2.0 / 3) *
(radius1_ + radius2_ + 0.5 * constraint.minimum_distance());
CheckConstraintEvalSmallerThanMinimumDistance(constraint, p_WB1, p_WB2);
}
};
TEST_F(TwoFreeSpheresMinimumDistanceTest, ExponentialPenalty) {
const double minimum_distance(0.1);
const MinimumDistanceConstraint constraint(
plant_double_, minimum_distance, plant_context_double_,
solvers::ExponentiallySmoothedHingeLoss);
CheckConstraintBounds(constraint);
CheckConstraintEval(constraint);
}
TEST_F(TwoFreeSpheresMinimumDistanceTest, QuadraticallySmoothedHingePenalty) {
const double minimum_distance(0.1);
// The default penalty type is smoothed hinge.
const MinimumDistanceConstraint constraint(plant_double_, minimum_distance,
plant_context_double_);
CheckConstraintBounds(constraint);
CheckConstraintEval(constraint);
}
GTEST_TEST(MinimumDistanceConstraintTest,
MultibodyPlantWithouthGeometrySource) {
auto plant = ConstructTwoFreeBodiesPlant<double>();
auto context = plant->CreateDefaultContext();
DRAKE_EXPECT_THROWS_MESSAGE(
MinimumDistanceConstraint(plant.get(), 0.1, context.get()),
"Kinematic constraint: MultibodyPlant has not registered "
"with a SceneGraph yet. Please refer to "
"AddMultibodyPlantSceneGraph on how to connect MultibodyPlant to "
"SceneGraph.");
}
GTEST_TEST(MinimumDistanceConstraintTest, MultibodyPlantWithoutCollisionPairs) {
// Make sure MinimumDistanceConstraint evaluation works when
// no collisions are possible in an MBP with no collision geometry.
systems::DiagramBuilder<double> builder{};
MultibodyPlant<double>& plant = AddMultibodyPlantSceneGraph(&builder, 0.0);
AddTwoFreeBodiesToPlant(&plant);
plant.Finalize();
auto diagram = builder.Build();
auto diagram_context = diagram->CreateDefaultContext();
auto plant_context =
&diagram->GetMutableSubsystemContext(plant, diagram_context.get());
const double minimum_distance(0.1);
const MinimumDistanceConstraint constraint(&plant, minimum_distance,
plant_context);
Eigen::Matrix<AutoDiffXd, kNumPositionsForTwoFreeBodies, 1> q_autodiff =
math::InitializeAutoDiff(
Eigen::VectorXd::Zero(kNumPositionsForTwoFreeBodies));
AutoDiffVecXd y_autodiff(1);
constraint.Eval(q_autodiff, &y_autodiff);
}
TEST_F(TwoFreeSpheresTest, NonpositiveInfluenceDistanceOffset) {
DRAKE_EXPECT_THROWS_MESSAGE(
MinimumDistanceConstraint(plant_double_, 0.1, plant_context_double_, {},
0.0),
"MinimumDistanceConstraint: influence_distance_offset must be positive.");
DRAKE_EXPECT_THROWS_MESSAGE(
MinimumDistanceConstraint(plant_double_, 0.1, plant_context_double_, {},
-0.1),
"MinimumDistanceConstraint: influence_distance_offset must be positive.");
}
TEST_F(TwoFreeSpheresTest, NonfiniteInfluenceDistanceOffset) {
DRAKE_EXPECT_THROWS_MESSAGE(
MinimumDistanceConstraint(plant_double_, 0.1, plant_context_double_, {},
std::numeric_limits<double>::infinity()),
"MinimumDistanceConstraint: influence_distance_offset must be finite.");
DRAKE_EXPECT_THROWS_MESSAGE(
MinimumDistanceConstraint(plant_double_, 0.1, plant_context_double_, {},
std::numeric_limits<double>::quiet_NaN()),
"MinimumDistanceConstraint: influence_distance_offset must be finite.");
}
template <typename T>
T BoxSphereSignedDistance(const Eigen::Vector3d& box_size, double radius,
const VectorX<T>& x) {
const math::RigidTransform<T> X_WB(
math::RotationMatrix<T>(Eigen::Quaternion<T>(x(0), x(1), x(2), x(3))),
x.template segment<3>(4));
const math::RigidTransform<T> X_WS(
math::RotationMatrix<T>(Eigen::Quaternion<T>(x(7), x(8), x(9), x(10))),
x.template tail<3>());
return BoxSphereSignedDistance(box_size, radius, X_WB, X_WS);
}
TEST_F(BoxSphereTest, Test) {
const double minimum_distance = 0.01;
for (MinimumDistancePenaltyFunction penalty_function :
{QuadraticallySmoothedHingeLoss, ExponentiallySmoothedHingeLoss}) {
MinimumDistanceConstraint constraint(plant_double_, minimum_distance,
plant_context_double_,
penalty_function);
auto check_eval_autodiff =
[&constraint](const Eigen::VectorXd& q_val,
const Eigen::MatrixXd& q_gradient, double tol,
const Eigen::Vector3d& box_size, double radius) {
AutoDiffVecXd x_autodiff =
math::InitializeAutoDiff(q_val, q_gradient);
CheckConstraintEvalNonsymbolic(constraint, x_autodiff, tol);
};
Eigen::VectorXd q(kNumPositionsForTwoFreeBodies);
// First check q with normalized quaternion.
q.head<4>() = Eigen::Vector4d(1, 0, 0, 0);
q.segment<3>(4) = Eigen::Vector3d(0, 0, -5);
q.segment<4>(7) = Eigen::Vector4d(0.1, 0.7, 0.8, 0.9).normalized();
q.tail<3>() << 0, 0, 0;
check_eval_autodiff(
q,
Eigen::MatrixXd::Identity(kNumPositionsForTwoFreeBodies,
kNumPositionsForTwoFreeBodies),
1E-13, box_size_, radius_);
q.tail<3>() << 0, 0, 1.1;
check_eval_autodiff(
q,
Eigen::MatrixXd::Identity(kNumPositionsForTwoFreeBodies,
kNumPositionsForTwoFreeBodies),
1E-13, box_size_, radius_);
// box and sphere are separated, but the separation distance is smaller than
// minimum_distance.
q.tail<3>() << 0, 0, 1.005;
check_eval_autodiff(
q,
Eigen::MatrixXd::Identity(kNumPositionsForTwoFreeBodies,
kNumPositionsForTwoFreeBodies),
1E-11, box_size_, radius_);
q.tail<3>() << 0, 0, -1;
check_eval_autodiff(
q,
Eigen::MatrixXd::Identity(kNumPositionsForTwoFreeBodies,
kNumPositionsForTwoFreeBodies),
1E-13, box_size_, radius_);
// Test a q with unnormalized quaternion.
q.head<4>() << 0.1, 1.7, 0.5, 0.3;
q.segment<4>(7) << 1, 0.1, 0.3, 2;
check_eval_autodiff(
q,
Eigen::MatrixXd::Identity(kNumPositionsForTwoFreeBodies,
kNumPositionsForTwoFreeBodies),
1E-12, box_size_, radius_);
// Now check if constraint constructed from MBP<ADS> gives the same result
// as that from MBP<double>
const MinimumDistanceConstraint constraint_from_autodiff(
plant_autodiff_, minimum_distance, plant_context_autodiff_,
penalty_function);
// Set dq to arbitrary values.
Eigen::Matrix<double, 14, 2> dq;
for (int i = 0; i < 14; ++i) {
dq(i, 0) = std::sin(i + 1);
dq(i, 1) = 2 * i - 1;
}
/* tolerance for checking numerical gradient vs analytical gradient. The
* numerical gradient is only accurate up to 5E-6 */
const double gradient_tol = 5E-6;
TestKinematicConstraintEval(constraint, constraint_from_autodiff, q, dq,
gradient_tol);
}
}
/**
Constructs a diagram that contains N free-floating spheres.
*/
template <typename T>
class NFreeSpheresModel {
public:
explicit NFreeSpheresModel(int num_spheres) : num_spheres_{num_spheres} {
systems::DiagramBuilder<T> builder;
std::tie(plant_, scene_graph_) = AddMultibodyPlantSceneGraph(&builder, 0.0);
const double mass{1};
const math::RigidTransformd X_BS{};
const Eigen::Vector3d p_AoAcm_A = X_BS.translation();
const RotationalInertia<double> I_AAcm_A =
UnitInertia<double>::SolidSphere(radius_);
const SpatialInertia<double> M_AAo_A =
SpatialInertia<double>::MakeFromCentralInertia(mass, p_AoAcm_A,
I_AAcm_A);
for (int i = 0; i < num_spheres; ++i) {
auto& body = plant_->AddRigidBody("sphere" + std::to_string(i), M_AAo_A);
plant_->RegisterCollisionGeometry(body, X_BS, geometry::Sphere(radius_),
fmt::format("sphere{}_collision", i),
multibody::CoulombFriction<double>());
sphere_frame_indices_.push_back(body.body_frame().index());
}
plant_->Finalize();
diagram_ = builder.Build();
diagram_context_ = diagram_->CreateDefaultContext();
}
double radius() const { return radius_; }
const systems::Diagram<T>& diagram() const { return *diagram_; }
const MultibodyPlant<T>& plant() const { return *plant_; }
const systems::Context<T>& plant_context() const {
return diagram_->GetSubsystemContext(*plant_, *diagram_context_);
}
systems::Context<T>& get_mutable_plant_context() {
return plant_->GetMyMutableContextFromRoot(diagram_context_.get());
}
private:
int num_spheres_;
const double radius_{0.01};
std::unique_ptr<systems::Diagram<T>> diagram_;
// This plant points to a sub-system in diagram_.
MultibodyPlant<T>* plant_{nullptr};
// This scene_graph points to a sub-system in diagram_.
geometry::SceneGraph<T>* scene_graph_{nullptr};
std::vector<FrameIndex> sphere_frame_indices_;
std::unique_ptr<systems::Context<T>> diagram_context_;
};
GTEST_TEST(ThreeSpheresTest, SomeLargerThanInfluenceSomeSmallerThanMinimum) {
// Test the case with three spheres. Some pair of spheres have distance >
// d_influence, and some pairs have distance < d_min.
NFreeSpheresModel<double> three_spheres(3);
const double d_min = 0.05;
const double d_influence = 0.06;
// Indices into the q vector for each sphere's position.
Eigen::Index kSpheres[] = {4, 11, 18};
Eigen::VectorXd q =
three_spheres.plant().GetPositions(three_spheres.plant_context());
// Position for sphere 0.
q.segment<3>(kSpheres[0]) << 0, 0, 0;
// Position for sphere 1.
q.segment<3>(kSpheres[1]) << 0, 0, 0.05;
// Position for sphere 2.
q.segment<3>(kSpheres[2]) << 0, 0, 0.1;
// Make sure that distance(sphere0, sphere1) < d_min.
ASSERT_LT((q.segment<3>(kSpheres[0]) - q.segment<3>(kSpheres[1])).norm() -
2 * three_spheres.radius(),
d_min);
// Make sure distance(sphere0, sphere2) > d_influence.
ASSERT_GT((q.segment<3>(kSpheres[2]) - q.segment<3>(kSpheres[0])).norm() -
2 * three_spheres.radius(),
d_influence);
for (MinimumDistancePenaltyFunction penalty_function :
{QuadraticallySmoothedHingeLoss, ExponentiallySmoothedHingeLoss}) {
MinimumDistanceConstraint dut(&(three_spheres.plant()), d_min,
&(three_spheres.get_mutable_plant_context()),
penalty_function, d_influence - d_min);
Eigen::VectorXd y_val;
dut.Eval(q, &y_val);
EXPECT_TRUE((y_val.array() < dut.lower_bound().array()).any() ||
(y_val.array() > dut.upper_bound().array()).any());
}
}
} // namespace multibody
} // namespace drake