@ContinuousIntegrationTest(estimatedDuration = 0.2)
@Test(timeout = 30000)
public void testChangeFrame() throws Exception {
double epsilon = 1.0e-10;
Random random = new Random(21651016L);
ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
ReferenceFrame expectedFrame = worldFrame;
double expectedTime = RandomTools.generateRandomDouble(random, 0.0, 1000.0);
FrameOrientation expectedOrientation =
FrameOrientation.generateRandomFrameOrientation(random, expectedFrame);
FrameVector expectedAngularVelocity =
FrameVector.generateRandomFrameVector(random, expectedFrame);
String expectedNamePrefix = "test";
String expectedNameSuffix = "blop";
YoFrameSO3TrajectoryPoint testedYoFrameSO3TrajectoryPoint =
new YoFrameSO3TrajectoryPoint(
expectedNamePrefix,
expectedNameSuffix,
new YoVariableRegistry("schnoop"),
expectedFrame);
testedYoFrameSO3TrajectoryPoint.set(expectedTime, expectedOrientation, expectedAngularVelocity);
ReferenceFrame[] randomFrames = new ReferenceFrame[10];
randomFrames[0] = worldFrame;
for (int i = 1; i < 10; i++)
randomFrames[i] =
ReferenceFrame.generateRandomReferenceFrame(
"randomFrame" + i,
random,
random.nextBoolean() ? worldFrame : randomFrames[random.nextInt(i)]);
for (int i = 0; i < 10000; i++) {
expectedFrame = randomFrames[random.nextInt(10)];
testedYoFrameSO3TrajectoryPoint.registerReferenceFrame(expectedFrame);
expectedOrientation.changeFrame(expectedFrame);
expectedAngularVelocity.changeFrame(expectedFrame);
testedYoFrameSO3TrajectoryPoint.changeFrame(expectedFrame);
assertWaypointContainsExpectedData(
expectedNamePrefix,
expectedNameSuffix,
expectedFrame,
expectedTime,
expectedOrientation,
expectedAngularVelocity,
testedYoFrameSO3TrajectoryPoint,
epsilon);
}
}
@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testCommonUsageExample() {
String namePrefix = "point";
String nameSuffix = "toTest";
YoVariableRegistry registry = new YoVariableRegistry("myRegistry");
ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
PoseReferenceFrame poseFrame = new PoseReferenceFrame("poseFrame", new FramePose(worldFrame));
FramePoint poseFramePosition = new FramePoint(worldFrame, new Point3d(0.5, 7.7, 9.2));
poseFrame.setPositionAndUpdate(poseFramePosition);
FrameOrientation poseOrientation =
new FrameOrientation(worldFrame, new AxisAngle4d(1.2, 3.9, 4.7, 2.2));
poseFrame.setOrientationAndUpdate(poseOrientation);
YoFrameSO3TrajectoryPoint yoFrameSO3TrajectoryPoint =
new YoFrameSO3TrajectoryPoint(namePrefix, nameSuffix, registry, worldFrame, poseFrame);
SimpleSO3TrajectoryPoint simpleTrajectoryPoint = new SimpleSO3TrajectoryPoint();
double time = 3.4;
TransformableQuat4d orientation = new TransformableQuat4d(new Quat4d(0.1, 0.22, 0.34, 0.56));
orientation.normalize();
Vector3d angularVelocity = new Vector3d(1.7, 8.4, 2.2);
simpleTrajectoryPoint.set(time, orientation, angularVelocity);
yoFrameSO3TrajectoryPoint.setIncludingFrame(worldFrame, simpleTrajectoryPoint);
yoFrameSO3TrajectoryPoint.changeFrame(poseFrame);
// Do some checks:
RigidBodyTransform transformToPoseFrame = worldFrame.getTransformToDesiredFrame(poseFrame);
orientation.applyTransform(transformToPoseFrame);
transformToPoseFrame.transform(angularVelocity);
namePrefix = "point";
nameSuffix = "toVerify";
YoFrameSO3TrajectoryPoint expectedYoFrameSO3TrajectoryPoint =
new YoFrameSO3TrajectoryPoint(namePrefix, nameSuffix, registry, poseFrame);
expectedYoFrameSO3TrajectoryPoint.setTime(time);
expectedYoFrameSO3TrajectoryPoint.setOrientation(orientation);
expectedYoFrameSO3TrajectoryPoint.setAngularVelocity(angularVelocity);
assertEquals(3.4, yoFrameSO3TrajectoryPoint.getTime(), 1e-7);
assertEquals(3.4, expectedYoFrameSO3TrajectoryPoint.getTime(), 1e-7);
assertTrue(expectedYoFrameSO3TrajectoryPoint.epsilonEquals(yoFrameSO3TrajectoryPoint, 1e-10));
}
@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testSomeMoreSettersAndGetters() {
String namePrefix = "point";
String nameSuffix = "toTest";
YoVariableRegistry registry = new YoVariableRegistry("myRegistry");
ReferenceFrame worldFrame = ReferenceFrame.getWorldFrame();
YoFrameSO3TrajectoryPoint yoFrameSO3TrajectoryPoint =
new YoFrameSO3TrajectoryPoint(namePrefix, nameSuffix, registry, worldFrame);
yoFrameSO3TrajectoryPoint.checkReferenceFrameMatch(ReferenceFrame.getWorldFrame());
double time = 3.4;
FrameOrientation orientation =
new FrameOrientation(worldFrame, new Quat4d(0.1, 0.22, 0.34, 0.56));
FrameVector angularVelocity = new FrameVector(worldFrame, 1.7, 8.4, 2.2);
yoFrameSO3TrajectoryPoint.setTime(time);
yoFrameSO3TrajectoryPoint.setOrientation(orientation);
yoFrameSO3TrajectoryPoint.setAngularVelocity(angularVelocity);
PoseReferenceFrame poseFrame = new PoseReferenceFrame("poseFrame", new FramePose(worldFrame));
FramePoint poseFramePosition = new FramePoint(worldFrame, new Point3d(0.5, 7.7, 9.2));
poseFrame.setPositionAndUpdate(poseFramePosition);
FrameOrientation poseOrientation =
new FrameOrientation(worldFrame, new AxisAngle4d(1.2, 3.9, 4.7, 2.2));
poseFrame.setOrientationAndUpdate(poseOrientation);
yoFrameSO3TrajectoryPoint.registerReferenceFrame(poseFrame);
yoFrameSO3TrajectoryPoint.changeFrame(poseFrame);
assertFalse(
orientation.epsilonEquals(
yoFrameSO3TrajectoryPoint.getOrientation().getFrameOrientationCopy(), 1e-10));
assertFalse(
angularVelocity.epsilonEquals(
yoFrameSO3TrajectoryPoint.getAngularVelocity().getFrameVectorCopy(), 1e-10));
orientation.changeFrame(poseFrame);
angularVelocity.changeFrame(poseFrame);
assertTrue(
orientation.epsilonEquals(
yoFrameSO3TrajectoryPoint.getOrientation().getFrameOrientationCopy(), 1e-10));
assertTrue(
angularVelocity.epsilonEquals(
yoFrameSO3TrajectoryPoint.getAngularVelocity().getFrameVectorCopy(), 1e-10));
YoFrameSO3TrajectoryPoint yoFrameSO3TrajectoryPointTwo =
new YoFrameSO3TrajectoryPoint(namePrefix, nameSuffix + "Two", registry, poseFrame);
yoFrameSO3TrajectoryPointTwo.setTime(time);
yoFrameSO3TrajectoryPointTwo.setOrientation(orientation);
yoFrameSO3TrajectoryPointTwo.setAngularVelocity(angularVelocity);
assertTrue(yoFrameSO3TrajectoryPointTwo.epsilonEquals(yoFrameSO3TrajectoryPointTwo, 1e-10));
}
