Yuval Tassa
0036f4e7ee
PiperOrigin-RevId: 518515153 Change-Id: If645f1799a171a385248fa8196b5c41dddcc4540
66 lines
2.1 KiB
C++
66 lines
2.1 KiB
C++
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// Tests of the entire pipeline that are not easily associated with one file.
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mujoco.h>
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#include "src/engine/engine_io.h"
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
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return std::vector<mjtNum>(array, array + n);
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}
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static const char* const kDefaultModel = "testdata/model.xml";
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using ::testing::Pointwise;
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using ::testing::DoubleNear;
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using PipelineTest = MujocoTest;
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// Joint and actuator damping should integrate identically under implicit
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TEST_F(PipelineTest, SparseDenseEquivalent) {
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const std::string xml_path = GetTestDataFilePath(kDefaultModel);
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mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
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mjData* data = mj_makeData(model);
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// set dense jacobian, call mj_forward, save accelerations
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model->opt.jacobian = mjJAC_DENSE;
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mj_forward(model, data);
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std::vector<mjtNum> qacc_dense = AsVector(data->qacc, model->nv);
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// set sparse jacobian, call mj_forward, save accelerations
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model->opt.jacobian = mjJAC_SPARSE;
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mj_forward(model, data);
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std::vector<mjtNum> qacc_sparse = AsVector(data->qacc, model->nv);
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// expect accelerations to be insignificantly different
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mjtNum tol = 1e-11;
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EXPECT_THAT(qacc_dense, Pointwise(DoubleNear(tol), qacc_sparse));
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// TODO: is 1e-12 larger than we expect?
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// investigate sources of discrepancy, eliminate if possible
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mj_deleteData(data);
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mj_deleteModel(model);
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}
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} // namespace
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} // namespace mujoco
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