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//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// Tests for engine/engine_inverse.c.
#include "src/engine/engine_inverse.h"
#include <string>
#include <gtest/gtest.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include "test/fixture.h"
namespace mujoco {
namespace {
using InverseTest = MujocoTest;
const int kSteps = 70;
static const char* const kModelPath = "testdata/model.xml";
// test standard continuous-time inverse dynamics
TEST_F(InverseTest, ForwardInverseMatch) {
const std::string xml_path = GetTestDataFilePath(kModelPath);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
mjData* data = mj_makeData(model);
// simulate, call mj_forward
for (int i = 0; i < kSteps; ++i) {
mj_step(model, data);
}
mj_forward(model, data);
// call built-in testing function
mj_compareFwdInv(model, data);
// expect mismatch to be small
mjtNum epsilon = 1e-10;
EXPECT_LT(data->solver_fwdinv[0], epsilon);
EXPECT_LT(data->solver_fwdinv[1], epsilon);
mj_deleteData(data);
mj_deleteModel(model);
}
// test discrete-time inverse dynamics
TEST_F(InverseTest, DiscreteInverseMatch) {
// load and allocate
const std::string xml_path = GetTestDataFilePath(kModelPath);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
int nv = model->nv;
mjData* data = mj_makeData(model);
int nstate = mj_stateSize(model, mjSTATE_INTEGRATION);
mjtNum* state = (mjtNum*)mju_malloc(nstate * sizeof(mjtNum));
mjtNum* qvel_next = (mjtNum*)mju_malloc(nv * sizeof(mjtNum));
mjtNum* qacc_fd = (mjtNum*)mju_malloc(nv * sizeof(mjtNum));
for (auto integrator : {mjINT_EULER, mjINT_IMPLICIT, mjINT_IMPLICITFAST}) {
model->opt.integrator = integrator;
for (bool invdiscrete : {false, true}) {
// simulate
mj_resetData(model, data);
for (int i = 0; i < kSteps; ++i) {
mj_step(model, data);
}
// save state
mj_getState(model, data, state, mjSTATE_INTEGRATION);
// call step, save new qvel
mj_step(model, data);
mju_copy(qvel_next, data->qvel, nv);
// reset the state, compute discrete-time (finite-differenced) qacc
mj_setState(model, data, state, mjSTATE_INTEGRATION);
mju_sub(qacc_fd, qvel_next, data->qvel, nv);
mju_scl(qacc_fd, qacc_fd, 1/model->opt.timestep, nv);
// call mj_forward, overwrite qacc with qacc_fd
mj_forward(model, data);
mju_copy(data->qacc, qacc_fd, nv);
// set/unset mjENBL_INVDISCRETE flag
if (invdiscrete) {
model->opt.enableflags |= mjENBL_INVDISCRETE;
} else {
model->opt.enableflags &= ~mjENBL_INVDISCRETE;
}
// call built-in testing function
mj_compareFwdInv(model, data);
// depending on mjENBL_INVDISCRETE flag, expect mismatch to be small/large
if (invdiscrete) {
mjtNum epsilon = 1e-9;
EXPECT_LT(data->solver_fwdinv[0], epsilon);
EXPECT_LT(data->solver_fwdinv[1], epsilon);
} else {
EXPECT_GT(data->solver_fwdinv[0], 1.0);
EXPECT_GT(data->solver_fwdinv[1], 1.0);
}
}
}
// deallocate
mju_free(qacc_fd);
mju_free(qvel_next);
mju_free(state);
mj_deleteData(data);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco
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