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src/test/java/us/ihmc/mecano/tools/MultiBodySystemToolsTest.java
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| package us.ihmc.mecano.tools; | ||
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| import static org.junit.Assert.assertArrayEquals; | ||
| import static org.junit.Assert.assertEquals; | ||
| import static org.junit.Assert.assertNotNull; | ||
| import static org.junit.Assert.assertTrue; | ||
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| import java.util.ArrayList; | ||
| import java.util.Collections; | ||
| import java.util.List; | ||
| import java.util.Random; | ||
| import java.util.Set; | ||
| import java.util.stream.Collectors; | ||
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| import org.junit.Test; | ||
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| import us.ihmc.mecano.multiBodySystem.interfaces.JointBasics; | ||
| import us.ihmc.mecano.multiBodySystem.interfaces.JointReadOnly; | ||
| import us.ihmc.mecano.multiBodySystem.interfaces.RigidBodyBasics; | ||
| import us.ihmc.mecano.multiBodySystem.interfaces.RigidBodyReadOnly; | ||
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| public class MultiBodySystemToolsTest | ||
| { | ||
| public static final int ITERATIONS = 1000; | ||
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| @Test | ||
| public void testCreateJointPath() throws Exception | ||
| { | ||
| Random random = new Random(34535); | ||
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| for (int i = 0; i < ITERATIONS; i++) | ||
| { | ||
| int numberOfJoints = 100; | ||
| List<JointBasics> joints = MultiBodySystemRandomTools.nextJointTree(random, numberOfJoints); | ||
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| RigidBodyBasics bodyA = joints.get(random.nextInt(numberOfJoints)).getSuccessor(); | ||
| RigidBodyBasics bodyB = bodyA.subtreeList().get(random.nextInt(bodyA.subtreeList().size())); | ||
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| JointReadOnly[] jointPath = MultiBodySystemTools.createJointPath(bodyA, bodyB); | ||
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| assertNotNull(jointPath); | ||
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| assertEquals(MultiBodySystemTools.computeDistanceToAncestor(bodyB, bodyA), jointPath.length); | ||
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| if (bodyA != bodyB) | ||
| { | ||
| assertEquals(bodyA, jointPath[0].getPredecessor()); | ||
| RigidBodyReadOnly expectedPredessor = null; | ||
| int nDoFs = 0; | ||
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| for (JointReadOnly joint : jointPath) | ||
| { | ||
| if (expectedPredessor != null) | ||
| assertEquals(expectedPredessor, joint.getPredecessor()); | ||
| expectedPredessor = joint.getSuccessor(); | ||
| nDoFs += joint.getDegreesOfFreedom(); | ||
| } | ||
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| assertEquals(bodyB, jointPath[jointPath.length - 1].getSuccessor()); | ||
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| assertEquals(nDoFs, MultiBodySystemTools.computeDegreesOfFreedom(bodyA, bodyB)); | ||
| } | ||
| } | ||
| } | ||
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| @Test | ||
| public void testCollectSuccessors() throws Exception | ||
| { | ||
| Random random = new Random(235423); | ||
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| for (int i = 0; i < ITERATIONS; i++) | ||
| { | ||
| int numberOfJoints = 100; | ||
| List<JointBasics> joints = MultiBodySystemRandomTools.nextJointTree(random, numberOfJoints); | ||
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| List<JointBasics> jointSelection = joints.stream().filter(j -> random.nextInt(10) < 4).collect(Collectors.toList()); | ||
| Collections.shuffle(jointSelection); | ||
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| RigidBodyBasics[] successors = MultiBodySystemTools.collectSuccessors(jointSelection.toArray(new JointBasics[0])); | ||
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| assertArrayEquals(jointSelection.stream().map(JointBasics::getSuccessor).toArray(RigidBodyBasics[]::new), successors); | ||
| } | ||
| } | ||
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| @Test | ||
| public void testCollectSubtreeSuccessors() throws Exception | ||
| { | ||
| Random random = new Random(2354234); | ||
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| for (int i = 0; i < ITERATIONS; i++) | ||
| { | ||
| int numberOfJoints = 20; | ||
| List<JointBasics> joints = MultiBodySystemRandomTools.nextJointTree(random, numberOfJoints); | ||
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| List<JointBasics> jointSelection = joints.stream().filter(j -> random.nextInt(10) < 4).collect(Collectors.toList()); | ||
| Collections.shuffle(jointSelection); | ||
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| RigidBodyBasics[] subtreeSuccessors = MultiBodySystemTools.collectSubtreeSuccessors(jointSelection.toArray(new JointBasics[0])); | ||
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| List<JointBasics> reducedJointSelection = new ArrayList<>(); | ||
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| for (JointBasics candidate : jointSelection) | ||
| { | ||
| if (reducedJointSelection.contains(candidate)) | ||
| continue; | ||
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| if (jointSelection.stream().filter(joint -> joint != candidate) | ||
| .anyMatch(joint -> MultiBodySystemTools.isAncestor(candidate.getSuccessor(), joint.getSuccessor()))) | ||
| continue; | ||
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| reducedJointSelection.add(candidate); | ||
| } | ||
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| Set<RigidBodyBasics> jointPredecessors = reducedJointSelection.stream().map(JointBasics::getPredecessor).collect(Collectors.toSet()); | ||
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| for (RigidBodyBasics subtreeSuccessor : subtreeSuccessors) | ||
| { | ||
| assertTrue(jointPredecessors.stream().anyMatch(subtreePredecessor -> MultiBodySystemTools.isAncestor(subtreeSuccessor, subtreePredecessor))); | ||
| assertTrue(jointPredecessors.stream().noneMatch(subtreePredecessor -> MultiBodySystemTools.isAncestor(subtreePredecessor, subtreeSuccessor))); | ||
| } | ||
| } | ||
| } | ||
| } |