remove whitespace and update CHANGELOG.md

ami-iit · Jan 17, 2024 · 776087b · 776087b
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -3,6 +3,7 @@ All notable changes to this project are documented in this file.
 
 ## [unreleased]
 ### Added
+- Implement `velMANN` class to perform inference on MANN model with velocity-based features in `ML` component (https://github.com/ami-iit/bipedal-locomotion-framework/pull/795)
 
 ### Changed
 

diff --git a/src/ML/include/BipedalLocomotion/ML/velMANN.h b/src/ML/include/BipedalLocomotion/ML/velMANN.h
@@ -30,7 +30,7 @@ namespace ML
  * orientation.
  */
 struct velMANNInput
-{   
+{
     /** Matrix containing the base linear velocity trajectory. The rows contain the xyz linear velocity
      * while the columns represent the velocity at each time instant. */
     Eigen::Matrix3Xd baseLinearVelocityTrajectory;

diff --git a/src/ML/tests/CMakeLists.txt b/src/ML/tests/CMakeLists.txt
@@ -32,7 +32,7 @@ if(BUILD_TESTING)
    else()
      set(VELMANN_ONNX_UPDATED FALSE)
    endif()
- 
+
    if(NOT ${VELMANN_ONNX_UPDATED})
      message(STATUS "Fetching velMANN onnx model from huggingface.co/ami-iit/mann...")
      file(DOWNLOAD https://huggingface.co/ami-iit/mann/resolve/main/ergocubSN000_32j_149e_velbased_mann.onnx

diff --git a/src/ML/tests/velMANNTest.cpp b/src/ML/tests/velMANNTest.cpp
@@ -36,46 +36,46 @@ TEST_CASE("velMANN")
     input.jointPositions.resize(32);
     input.jointVelocities.resize(32);
 
-    std::array<double, 12 * 3> baseLinearVelTemp{3.5243694266353373e-15, 7.008199078189101e-15, 3.0614383132617574e-16, 0.012421162571032856, 
+    std::array<double, 12 * 3> baseLinearVelTemp{3.5243694266353373e-15, 7.008199078189101e-15, 3.0614383132617574e-16, 0.012421162571032856,
             -0.014122548398467332, -0.0017588395790161734, 0.0044019864826900425, -0.0032526431671412843,
             -0.0003791446290885935, 0.0018464051771702283, -0.0007014617207248446, -0.0002852708574057455,
             -0.007666416570001765, -0.006401494346322381, -0.0020622161550935647, -0.0019045289643069853,
-            -0.008158728689814406, 0.0006715067872605493, 0.0007060098803055911, -0.01477829078637679, 
-            0.0011823591653468393, -0.0003210022438017331, 6.757567991447852e-06, 0.003540728250141397, 
-            0.0, 0.0, 0.0, 0.017893397271105622, 
-            -0.03658355242181092, 0.006983540281113693, 0.09451721426339721, -0.009889970586401762, 
+            -0.008158728689814406, 0.0006715067872605493, 0.0007060098803055911, -0.01477829078637679,
+            0.0011823591653468393, -0.0003210022438017331, 6.757567991447852e-06, 0.003540728250141397,
+            0.0, 0.0, 0.0, 0.017893397271105622,
+            -0.03658355242181092, 0.006983540281113693, 0.09451721426339721, -0.009889970586401762,
             0.008193869415440216, 0.2053173727694591, 0.07173449613753384, 0.009762607489653094};
 
     input.baseLinearVelocityTrajectory = Eigen::Map<Eigen::MatrixXd>(baseLinearVelTemp.data(), 3, 12);
 
-    std::array<double, 12 * 3> baseAngularVelTemp{1.2839528469302477e-16, 1.9898256768176927e-17, 6.762609578082937e-18, 0.031449943566089156, 
-            0.07414012486813136, 0.07208904404786341, 0.006826734024380377, 0.050238738599215724, 
-            0.0016967450914463823, 0.004713732379144265, 0.019225556089882915, -0.008454823733790681, 
-            0.019126096353924676, -0.03700523273782162, 0.02385417785340806, 0.007936443095453556, 
-            -0.005759098538862559, 0.016742656763119815, 0.00818785217095963, -0.037435052638151126, 
-            -0.016759287151117987, 0.05256457282727177, -0.03841732944090507, -0.10431413289643675, 
+    std::array<double, 12 * 3> baseAngularVelTemp{1.2839528469302477e-16, 1.9898256768176927e-17, 6.762609578082937e-18, 0.031449943566089156,
+            0.07414012486813136, 0.07208904404786341, 0.006826734024380377, 0.050238738599215724,
+            0.0016967450914463823, 0.004713732379144265, 0.019225556089882915, -0.008454823733790681,
+            0.019126096353924676, -0.03700523273782162, 0.02385417785340806, 0.007936443095453556,
+            -0.005759098538862559, 0.016742656763119815, 0.00818785217095963, -0.037435052638151126,
+            -0.016759287151117987, 0.05256457282727177, -0.03841732944090507, -0.10431413289643675,
             0.0, 0.0, 0.0, 0.0878491471703012,
             -0.12733981016516405, -0.2832203614502011, 0.03918120592226204, 0.0804221698146093,
             -0.43534358315740246, -0.09585916148288552, 0.15195461008141126, -0.6545870342808059};
     input.baseAngularVelocityTrajectory
         = Eigen::Map<Eigen::MatrixXd>(baseAngularVelTemp.data(), 3, 12);
 
-    input.jointPositions << -0.08914329577232137, 0.025767620112200747, 0.016600125582731447, -0.10205569019576242, 
-            -0.10115357046332556, -0.02590094449134414, -0.10954097755732813, -0.021888724926318617, 
-            0.06819316643211669, -0.07852679097651347, -0.10034170556770548, 0.020710812052444683, 
-            0.2413038455611485, 0.010535350226309968, 0.006275324178053386, -0.14908520025814864, 
-            0.08533421586871431, 0.10281322318047023, 0.32297257397277707, 0.14790247588361516, 
-            -0.3129451427487485, 0.04242320961879248, 0.0022412263648723028, -0.016729676987423055, 
-            0.11047971812597632, -0.12993538373842523, 0.018668904587540704, 0.033567343049341246, 
+    input.jointPositions << -0.08914329577232137, 0.025767620112200747, 0.016600125582731447, -0.10205569019576242,
+            -0.10115357046332556, -0.02590094449134414, -0.10954097755732813, -0.021888724926318617,
+            0.06819316643211669, -0.07852679097651347, -0.10034170556770548, 0.020710812052444683,
+            0.2413038455611485, 0.010535350226309968, 0.006275324178053386, -0.14908520025814864,
+            0.08533421586871431, 0.10281322318047023, 0.32297257397277707, 0.14790247588361516,
+            -0.3129451427487485, 0.04242320961879248, 0.0022412263648723028, -0.016729676987423055,
+            0.11047971812597632, -0.12993538373842523, 0.018668904587540704, 0.033567343049341246,
             0.3631242921725555, -0.28302209132906536, -0.3129451427487485, 0.04242320961879248;
 
-    input.jointVelocities << 0.018265725998252436, -0.0035976586400216642, -0.012043915220395253, -0.010850374465225243, 
-            -0.0029826472872050702, 0.01194233827184095, 0.00894458674770629, 0.003558151484858718, 
-            0.01579702497265592, -0.0028171693990643176, -0.001904114327552775, -0.011985210234407781, 
-            0.020805414325628102, 0.011839621139096701, 0.009719580928183296, 0.01040432230648286, 
-            0.03174781826678491, -0.07732321906598477, -0.051694399002594205, 0.015153131453655988, 
-            8.599305395817769e-05, -1.1664542210951256e-05, 0.005543033652851423, 0.0010366246463409945, 
-            -0.01100933606651422, -0.041149377276150645, -0.0024410871334947654, -0.04243541029015849, 
+    input.jointVelocities << 0.018265725998252436, -0.0035976586400216642, -0.012043915220395253, -0.010850374465225243,
+            -0.0029826472872050702, 0.01194233827184095, 0.00894458674770629, 0.003558151484858718,
+            0.01579702497265592, -0.0028171693990643176, -0.001904114327552775, -0.011985210234407781,
+            0.020805414325628102, 0.011839621139096701, 0.009719580928183296, 0.01040432230648286,
+            0.03174781826678491, -0.07732321906598477, -0.051694399002594205, 0.015153131453655988,
+            8.599305395817769e-05, -1.1664542210951256e-05, 0.005543033652851423, 0.0010366246463409945,
+            -0.01100933606651422, -0.041149377276150645, -0.0024410871334947654, -0.04243541029015849,
             0.01042528371749396, 0.0009363820684421542, 8.599305395817769e-05, -1.1664542210951256e-05;
 
     REQUIRE(velMann.setInput(input));