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moveit_core/online_signal_smoothing/test/test_acceleration_filter.cpp
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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2024, PickNik Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of PickNik Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
|
||
| #include <gtest/gtest.h> | ||
| #include <moveit/online_signal_smoothing/acceleration_filter.h> | ||
| #include <moveit/utils/robot_model_test_utils.h> | ||
|
|
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| constexpr char* move_group_name = "panda_arm"; | ||
|
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| class AccelerationFilterTest : public testing::Test | ||
| { | ||
| protected: | ||
| void SetUp() override | ||
| { | ||
| robot_model_ = moveit::core::loadTestingRobotModel("panda"); | ||
| }; | ||
|
|
||
| void set_limit(std::optional<Eigen::VectorXd> acceleration_limit) | ||
| { | ||
| const std::vector<moveit::core::JointModel*> joint_models = robot_model_->getJointModels(); | ||
| auto joint_model_group = robot_model_->getJointModelGroup(move_group_name); | ||
| size_t ind = 0; | ||
| for (auto& joint_model : joint_models) | ||
| { | ||
| if (!joint_model_group->hasJointModel(joint_model->getName())) | ||
| { | ||
| continue; | ||
| } | ||
| std::vector<moveit_msgs::msg::JointLimits> joint_bounds_msg(joint_model->getVariableBoundsMsg()); | ||
| for (auto& joint_bound : joint_bounds_msg) | ||
| { | ||
| joint_bound.has_acceleration_limits = acceleration_limit.has_value(); | ||
| if (joint_bound.has_acceleration_limits) | ||
| { | ||
| joint_bound.max_acceleration = acceleration_limit.value()[ind]; | ||
| } | ||
| } | ||
| joint_model->setVariableBounds(joint_bounds_msg); | ||
| ind++; | ||
| } | ||
| } | ||
|
|
||
| protected: | ||
| moveit::core::RobotModelPtr robot_model_; | ||
| }; | ||
|
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| TEST_F(AccelerationFilterTest, FilterInitialize) | ||
| { | ||
| online_signal_smoothing::AccelerationLimitedPlugin filter; | ||
|
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| rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("AccelerationFilterTest"); | ||
| node->declare_parameter<std::string>("move_group_name", move_group_name); | ||
|
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| // fail because the number of joint is wrong | ||
| EXPECT_FALSE(filter.initialize(node, robot_model_, 3)); | ||
|
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| // fail because the update_rate parameter is not set | ||
| EXPECT_FALSE(filter.initialize(node, robot_model_, 7)); | ||
| node->declare_parameter<double>("update_rate", 0.01); | ||
|
|
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| // fail because the robot does not have acceleration limits | ||
| set_limit({}); | ||
| EXPECT_FALSE(filter.initialize(node, robot_model_, 7)); | ||
|
|
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| // succeed with acceleration limits | ||
| Eigen::VectorXd acceleration_limit = 1.2 * Eigen::VectorXd::Ones(7); | ||
| set_limit(acceleration_limit); | ||
| EXPECT_TRUE(filter.initialize(node, robot_model_, 7)); | ||
| } | ||
|
|
||
| TEST_F(AccelerationFilterTest, FilterDoSmooth) | ||
| { | ||
| online_signal_smoothing::AccelerationLimitedPlugin filter; | ||
|
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| rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("AccelerationFilterTest"); | ||
| node->declare_parameter<std::string>("move_group_name", move_group_name); | ||
| double update_rate = 1.0; | ||
| node->declare_parameter<double>("update_rate", update_rate); | ||
| Eigen::VectorXd acceleration_limit = 1.2 * Eigen::VectorXd::Ones(7); | ||
| set_limit(acceleration_limit); | ||
|
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| EXPECT_TRUE(filter.initialize(node, robot_model_, 7)); | ||
|
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| // fail when called with the wrong number of joints | ||
| Eigen::VectorXd position = Eigen::VectorXd::Zero(5); | ||
| Eigen::VectorXd velocity = Eigen::VectorXd::Zero(5); | ||
| Eigen::VectorXd acceleration = Eigen::VectorXd::Zero(5); | ||
| EXPECT_FALSE(filter.doSmoothing(position, velocity, acceleration)); | ||
|
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| // fail because reset was not called | ||
| position = Eigen::VectorXd::Zero(7); | ||
| velocity = Eigen::VectorXd::Zero(7); | ||
| acceleration = Eigen::VectorXd::Zero(7); | ||
| EXPECT_FALSE(filter.doSmoothing(position, velocity, acceleration)); | ||
|
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| // succeed | ||
| filter.reset(Eigen::VectorXd::Zero(7), Eigen::VectorXd::Zero(7), Eigen::VectorXd::Zero(7)); | ||
| EXPECT_TRUE(filter.doSmoothing(position, velocity, acceleration)); | ||
|
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| // succeed: apply acceleration limits | ||
| filter.reset(Eigen::VectorXd::Zero(7), Eigen::VectorXd::Zero(7), Eigen::VectorXd::Zero(7)); | ||
| position.array() = 3.0; | ||
| EXPECT_TRUE(filter.doSmoothing(position, velocity, acceleration)); | ||
| EXPECT_TRUE((position.array() - update_rate * update_rate * acceleration_limit.array()).matrix().norm() < 1E-3); | ||
|
|
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| // succeed: apply acceleration limits | ||
| position.array() = 0.9; | ||
| filter.reset(position * 0, velocity * 0, acceleration * 0); | ||
| EXPECT_TRUE(filter.doSmoothing(position, velocity, acceleration)); | ||
| EXPECT_TRUE((position.array() - 0.9).matrix().norm() < 1E-3); | ||
|
|
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| // succeed: slow down | ||
| velocity = 10 * Eigen::VectorXd::Ones(7); | ||
| filter.reset(Eigen::VectorXd::Zero(7), velocity, Eigen::VectorXd::Zero(7)); | ||
| position.array() = 0.01; | ||
| Eigen::VectorXd expected_offset = | ||
| velocity.array() * update_rate - update_rate * update_rate * acceleration_limit.array(); | ||
| EXPECT_TRUE(filter.doSmoothing(position, velocity, acceleration)); | ||
| EXPECT_TRUE((velocity * update_rate - expected_offset).norm() < 1E-3); | ||
| } | ||
|
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| TEST_F(AccelerationFilterTest, FilterBadAccelerationConfig) | ||
| { | ||
| online_signal_smoothing::AccelerationLimitedPlugin filter; | ||
|
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| rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("AccelerationFilterTest"); | ||
| node->declare_parameter<std::string>("move_group_name", move_group_name); | ||
| double update_rate = 0.1; | ||
| node->declare_parameter<double>("update_rate", update_rate); | ||
| Eigen::VectorXd acceleration_limit = -1.0 * Eigen::VectorXd::Ones(7); | ||
| set_limit(acceleration_limit); | ||
| EXPECT_TRUE(filter.initialize(node, robot_model_, 7)); | ||
| Eigen::VectorXd position = Eigen::VectorXd::Zero(7); | ||
| Eigen::VectorXd velocity = Eigen::VectorXd::Zero(7); | ||
| Eigen::VectorXd acceleration = Eigen::VectorXd::Zero(7); | ||
| EXPECT_TRUE(filter.reset(position, velocity, acceleration)); | ||
| EXPECT_FALSE(filter.doSmoothing(position, velocity, acceleration)); | ||
| } | ||
|
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| TEST_F(AccelerationFilterTest, FilterDoSmoothRandomized) | ||
| { | ||
| double update_rate = 0.1; | ||
| for (size_t iter = 0; iter < 64; ++iter) | ||
| { | ||
| online_signal_smoothing::AccelerationLimitedPlugin filter; | ||
|
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| rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("AccelerationFilterTest"); | ||
| node->declare_parameter<std::string>("move_group_name", move_group_name); | ||
| node->declare_parameter<double>("update_rate", update_rate); | ||
| Eigen::VectorXd acceleration_limit = 1.2 * (1.0 + Eigen::VectorXd::Random(7).array()); | ||
| set_limit(acceleration_limit); | ||
| EXPECT_TRUE(filter.initialize(node, robot_model_, 7)); | ||
| filter.reset(Eigen::VectorXd::Zero(7), Eigen::VectorXd::Zero(7), Eigen::VectorXd::Zero(7)); | ||
| Eigen::VectorXd position = Eigen::VectorXd::Random(7); | ||
| Eigen::VectorXd velocity = Eigen::VectorXd::Random(7); | ||
| Eigen::VectorXd acceleration = Eigen::VectorXd::Random(7); | ||
| EXPECT_TRUE(filter.doSmoothing(position, velocity, acceleration)); | ||
| } | ||
| } | ||
|
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||
| int main(int argc, char** argv) | ||
| { | ||
| testing::InitGoogleTest(&argc, argv); | ||
| rclcpp::init(argc, argv); | ||
| return RUN_ALL_TESTS(); | ||
| } |