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moved calibration to own repository

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Felix Mauch
2019-05-27 16:30:21 +02:00
parent ceb00d8d6d
commit 312fe8b1b7
110 changed files with 250 additions and 46 deletions
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ur_calibration/test/calibration_test.cpp Normal file
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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// -- END LICENSE BLOCK ------------------------------------------------
//----------------------------------------------------------------------
/*!\file
*
* \author Felix Mauch mauch@fzi.de
* \date 2019-03-11
*
*/
//----------------------------------------------------------------------
#include <gtest/gtest.h>
#include <ur_calibration/calibration.h>
namespace
{
bool isApproximately(const double val1, const double val2, const double precision)
{
return std::abs(val1 - val2) < precision;
}
template <class Scalar_, int dim_>
void doubleEqVec(const Eigen::Matrix<Scalar_, dim_, 1> vec1, const Eigen::Matrix<Scalar_, dim_, 1> vec2,
const double precision)
{
for (size_t i = 0; i < dim_; ++i)
{
EXPECT_NEAR(vec1[i], vec2[i], precision);
}
}
TEST(UrRtdeDriver, ur10_fw_kinematics)
{
DHRobot my_robot;
const double pi = std::atan(1) * 4;
// const double pi = 1.570796327 * 2.0;
// const double pi = M_PI;
// This is an ideal UR10
// clang-format off
my_robot.segments_.push_back(DHSegment(0.1273 , 0 , 0 , pi / 2));
my_robot.segments_.push_back(DHSegment(0 , -0.612 , 0 , 0));
my_robot.segments_.push_back(DHSegment(0 , -0.5723, 0 , 0.0));
my_robot.segments_.push_back(DHSegment(0.163841, 0 , 0 , pi / 2));
my_robot.segments_.push_back(DHSegment(0.1157 , 0 , 0 , -pi / 2));
my_robot.segments_.push_back(DHSegment(0.0922 , 0 , 0 , 0));
// clang-format on
Calibration calibration(my_robot);
Eigen::Matrix<double, 6, 1> jointvalues;
Eigen::Vector3d expected_position;
Eigen::Quaterniond expected_orientation;
{
jointvalues << 0, 0, 0, 0, 0, 0;
Eigen::Matrix4d fk = calibration.calcForwardKinematics(jointvalues);
EXPECT_DOUBLE_EQ(fk(0, 3), my_robot.segments_[1].a_ + my_robot.segments_[2].a_);
EXPECT_DOUBLE_EQ(fk(1, 3), -1 * (my_robot.segments_[3].d_ + my_robot.segments_[5].d_));
EXPECT_DOUBLE_EQ(fk(2, 3), my_robot.segments_[0].d_ - my_robot.segments_[4].d_);
}
{
jointvalues << M_PI_2, -M_PI_4, M_PI_2, -M_PI_4, 0, 0;
Eigen::Matrix4d fk = calibration.calcForwardKinematics(jointvalues);
expected_position << my_robot.segments_[3].d_ + my_robot.segments_[5].d_,
my_robot.segments_[1].a_ / std::sqrt(2) + my_robot.segments_[2].a_ / std::sqrt(2),
my_robot.segments_[0].d_ - my_robot.segments_[1].a_ / std::sqrt(2) + my_robot.segments_[2].a_ / std::sqrt(2) -
my_robot.segments_[4].d_;
doubleEqVec<double, 3>(expected_position, fk.topRightCorner(3, 1), 1e-16);
}
{
jointvalues << -1.6007002035724084976209269370884, -1.7271001974688928726209269370884,
-2.2029998938189905288709269370884, -0.80799991289247685699592693708837, 1.59510004520416259765625,
-0.03099996248354131012092693708837;
expected_position << -0.179925914147547, -0.606869755162764, 0.230789102067257;
Eigen::Matrix4d fk = calibration.calcForwardKinematics(jointvalues);
doubleEqVec<double, 3>(expected_position, fk.topRightCorner(3, 1), 1e-10);
}
{
jointvalues << 1.32645022869110107421875, 2.426007747650146484375, 5.951572895050048828125,
1.27409040927886962890625, -0.54105216661562138824592693708837, 0.122173048555850982666015625;
expected_position << 0.39922988003280424074148413637886, 0.59688365069340565405298093537567,
-0.6677819040276375961440180617501;
Eigen::Matrix4d fk = calibration.calcForwardKinematics(jointvalues);
doubleEqVec<double, 3>(expected_position, fk.topRightCorner(3, 1), 1e-9);
}
}
TEST(UrRtdeDriver, calibration)
{
// This test compares the forward kinematics of the model constructed from uncorrected
// parameters with the one from the corrected parameters. They are tested against random
// joint values and should be equal (in a numeric sense).
DHRobot my_robot;
const double pi = std::atan(1) * 4;
// This is an ideal UR10
// clang-format off
// d, a, theta, alpha
my_robot.segments_.push_back(DHSegment(0.1273 , 0 , 0 , pi / 2));
my_robot.segments_.push_back(DHSegment(0 , -0.612 , 0 , 0));
my_robot.segments_.push_back(DHSegment(0 , -0.5723, 0 , 0.0));
my_robot.segments_.push_back(DHSegment(0.163841, 0 , 0 , pi / 2));
my_robot.segments_.push_back(DHSegment(0.1157 , 0 , 0 , -pi / 2));
my_robot.segments_.push_back(DHSegment(0.0922 , 0 , 0 , 0));
// clang-format on
DHRobot my_robot_calibration;
// clang-format off
// d, a, theta, alpha
my_robot_calibration.segments_.push_back(DHSegment( 0.00065609212979853 , 4.6311376834935676e-05 , -7.290070070824746e-05 , 0.000211987863869334 ));
my_robot_calibration.segments_.push_back(DHSegment( 1.4442162376284788 , -0.00012568315331862312 , -0.01713897289704999 , -0.0072553625957652995));
my_robot_calibration.segments_.push_back(DHSegment( 0.854147723854608 , 0.00186216581161458 , -0.03707159413492756 , -0.013483226769541364 ));
my_robot_calibration.segments_.push_back(DHSegment(-2.2989425877563705 , 9.918593870679266e-05 , 0.054279462160583214 , 0.0013495820227329425 ));
my_robot_calibration.segments_.push_back(DHSegment(-1.573498686836816e-05 , 4.215462720453189e-06 , 1.488984257025741e-07 , -0.001263136163679901 ));
my_robot_calibration.segments_.push_back(DHSegment( 1.9072435590711256e-05 , 0 , 1.551499479707493e-05 , 0 ));
// clang-format on
Eigen::Matrix<double, 6, 1> jointvalues;
jointvalues << 0, 0, 0, 0, 0, 0;
for (size_t i = 0; i < 1000; ++i)
{
Calibration calibration(my_robot + my_robot_calibration);
jointvalues = 2 * pi * Eigen::Matrix<double, 6, 1>::Random();
Eigen::Matrix4d fk_orig = calibration.calcForwardKinematics(jointvalues);
Eigen::Matrix3d rot_mat_orig = fk_orig.topLeftCorner(3, 3);
Eigen::Quaterniond rot_orig(rot_mat_orig);
calibration.correctChain();
Eigen::Matrix4d fk_corrected = calibration.calcForwardKinematics(jointvalues);
Eigen::Matrix3d rot_mat_corrected = fk_corrected.topLeftCorner(3, 3);
Eigen::Quaterniond rot_corrected(rot_mat_corrected);
double angle_error = std::abs(rot_orig.angularDistance(rot_corrected));
EXPECT_NEAR(fk_orig(0, 3), fk_corrected(0, 3), 1e-12);
EXPECT_NEAR(fk_orig(1, 3), fk_corrected(1, 3), 1e-12);
EXPECT_NEAR(fk_orig(2, 3), fk_corrected(2, 3), 1e-12);
EXPECT_NEAR(angle_error, 0.0, 1e-12);
}
}
} // namespace
int main(int argc, char* argv[])
{
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}