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com_position_constraint_test.cc
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com_position_constraint_test.cc
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#include "drake/multibody/inverse_kinematics/com_position_constraint.h"
#include <gtest/gtest.h>
#include "drake/common/find_resource.h"
#include "drake/multibody/inverse_kinematics/test/inverse_kinematics_test_utilities.h"
using drake::systems::Context;
namespace drake {
namespace multibody {
namespace {
AutoDiffVecXd EvalComPositionConstraintAutoDiff(
const Context<AutoDiffXd>& context, const MultibodyPlant<AutoDiffXd>& plant,
const std::vector<ModelInstanceIndex>& model_instances,
const Frame<AutoDiffXd>& expressed_frame,
const Eigen::Ref<const Vector3<AutoDiffXd>>& p_EC) {
const Vector3<AutoDiffXd> p_WC =
plant.CalcCenterOfMassPositionInWorld(context, model_instances);
const math::RigidTransform<AutoDiffXd> X_EW = plant.CalcRelativeTransform(
context, expressed_frame, plant.world_frame());
return X_EW * p_WC - p_EC;
}
template <typename T>
void TestComPositionConstraint(
const MultibodyPlant<T>* const plant,
const MultibodyPlant<AutoDiffXd>* const plant_autodiff,
const std::optional<std::vector<ModelInstanceIndex>>& model_instances,
const FrameIndex& expressed_frame_index, systems::Context<T>* plant_context,
systems::Context<AutoDiffXd>* plant_context_autodiff,
const Eigen::Ref<const Eigen::VectorXd>& q_val,
const Eigen::Ref<const Eigen::VectorXd>& p_EC_val) {
ComPositionConstraint constraint(plant, model_instances,
plant->get_frame(expressed_frame_index),
plant_context);
EXPECT_EQ(constraint.num_vars(), plant->num_positions() + 3);
EXPECT_EQ(constraint.num_constraints(), 3);
EXPECT_TRUE(
CompareMatrices(constraint.lower_bound(), Eigen::Vector3d::Zero()));
EXPECT_TRUE(
CompareMatrices(constraint.upper_bound(), Eigen::Vector3d::Zero()));
// Now check if Eval function computes the right result.
Eigen::VectorXd x;
constraint.ComposeVariable<double>(q_val, p_EC_val, &x);
Eigen::VectorXd y;
constraint.Eval(x, &y);
plant->SetPositions(plant_context, q_val);
Vector3<T> p_WC;
if (model_instances.has_value()) {
p_WC = plant->CalcCenterOfMassPositionInWorld(*plant_context,
model_instances.value());
} else {
p_WC = plant->CalcCenterOfMassPositionInWorld(*plant_context);
}
const Vector3<T> y_expected =
plant->CalcRelativeTransform(*plant_context,
plant->get_frame(expressed_frame_index),
plant->world_frame()) *
p_WC -
p_EC_val;
const double tol{1E-12};
if constexpr (std::is_same_v<T, double>) {
EXPECT_TRUE(CompareMatrices(y, y_expected, tol));
} else {
EXPECT_TRUE(CompareMatrices(y, math::ExtractValue(y_expected), tol));
}
AutoDiffVecXd x_autodiff = math::InitializeAutoDiff(x);
AutoDiffVecXd y_autodiff;
constraint.Eval(x_autodiff, &y_autodiff);
plant_autodiff->GetMutablePositions(plant_context_autodiff) =
x_autodiff.head(plant->num_positions());
std::vector<ModelInstanceIndex> model_instances_val;
if (model_instances.has_value()) {
model_instances_val = model_instances.value();
} else {
for (ModelInstanceIndex model_instance_index{1};
model_instance_index < plant->num_model_instances();
++model_instance_index) {
model_instances_val.push_back(model_instance_index);
}
}
Vector3<AutoDiffXd> y_autodiff_expected = EvalComPositionConstraintAutoDiff(
*plant_context_autodiff, *plant_autodiff, model_instances_val,
plant_autodiff->get_frame(expressed_frame_index), x_autodiff.tail<3>());
CompareAutoDiffVectors(y_autodiff, y_autodiff_expected, tol);
// Test with non-identity gradient for x_autodiff.
Eigen::MatrixXd x_grad(constraint.num_vars(), 2);
for (int i = 0; i < constraint.num_vars(); ++i) {
x_grad(i, 0) = 0.1 * i + 1;
x_grad(i, 1) = -0.2 * i - 0.5;
}
x_autodiff = math::InitializeAutoDiff(x, x_grad);
plant_autodiff->GetMutablePositions(plant_context_autodiff) =
x_autodiff.head(plant->num_positions());
constraint.Eval(x_autodiff, &y_autodiff);
y_autodiff_expected = EvalComPositionConstraintAutoDiff(
*plant_context_autodiff, *plant_autodiff, model_instances_val,
plant_autodiff->get_frame(expressed_frame_index), x_autodiff.tail<3>());
CompareAutoDiffVectors(y_autodiff, y_autodiff_expected, tol);
}
TEST_F(IiwaKinematicConstraintTest,
ComPositionConstraint_empty_model_instance) {
const Frame<double>& link2_frame = plant_->GetFrameByName("iiwa_link_2");
Eigen::VectorXd q(7);
q << 0.1, 0.2, 0.4, 0.3, 0.5, -0.2, 0.6;
Eigen::Vector3d p_EC(0.9, 1.2, 0.8);
// Test constraint constructed with MBP<double>
TestComPositionConstraint(plant_, plant_autodiff_.get(), std::nullopt,
link2_frame.index(), plant_context_,
plant_context_autodiff_.get(), q, p_EC);
// Test constraint constructed with MBP<AutoDiffXd>
TestComPositionConstraint(plant_autodiff_.get(), plant_autodiff_.get(),
std::nullopt, link2_frame.index(),
plant_context_autodiff_.get(),
plant_context_autodiff_.get(), q, p_EC);
}
GTEST_TEST(DualIiwaTest, ComPositionConstraint_model_instance) {
const std::string iiwa_path = FindResourceOrThrow(
"drake/manipulation/models/iiwa_description/sdf/"
"iiwa14_no_collision.sdf");
auto plant =
ConstructIiwaPlant(iiwa_path, 0.1 /* time step */, 2 /* num_iiwa */);
auto plant_context = plant->CreateDefaultContext();
auto plant_autodiff = systems::System<double>::ToAutoDiffXd(*plant);
auto plant_context_autodiff = plant_autodiff->CreateDefaultContext();
// Test constraint constructed with MBP<AutoDiffXd>
Eigen::VectorXd q(14);
q << 0.1, 0.2, 0.4, 0.3, 0.5, -0.2, 0.6, 0.2, 0.5, 0.1, -1.2, 0.4, 0.3, 0.7;
Eigen::Vector3d p_EC(0.9, 1.2, 0.8);
std::vector<ModelInstanceIndex> model_instances{
{plant->GetModelInstanceByName("iiwa0")}};
TestComPositionConstraint(
plant_autodiff.get(), plant_autodiff.get(), model_instances,
plant_autodiff->world_frame().index(), plant_context_autodiff.get(),
plant_context_autodiff.get(), q, p_EC);
// TODO(hongkai.dai): Add test with non-empty model_instances and constraint
// constructed from MBP<double> when #14916 is resolved.
}
} // namespace
} // namespace multibody
} // namespace drake