Add the LFController unit tests #46

ArthurVal · 2024-12-11T13:26:51Z

Base: 43151c1

It adds the unit-tests for the LFController class.

Tests (Test suite = LFControllerTest):

LFController()
- ✅ Ctor
void initialize(const RobotModelBuilder::SharedPtr&):
- ⛔ InitializeNullptr - Nullptr as RobotModelBuilder
  - Seg fault
- ⛔ InitializeEmptyModel - Empty RobotModelBuilder
  - Not throwing anything
- ✅ Initialize - Valid RobotModel (Talos)
const VectorXd& compute_control(const Sensor& sensor_msg, const Control& control_msg)
- ⛔ ComputeControlNotInitialized - Not using .initialize() beforehands
  - Seg fault
- ⛔ ComputeControlNoInput - With model but no inputs
  - Aborted -> Asserts coming from Eigen
- ⛔ ComputeControlUnknownJoints - Refer to unknown joints w.r.t. initialize()
  - Not reporting any error
- ⛔ ComputeControlSizeMismatch - Mismatch sensor/control values (size/joints names/... ?)
  - Eigen assert size mismatch
- ⛔ ComputeControlSpecialDouble - Put Nan/Inf inside sensor/control
  - No Free Flyer: No errors
  - With Free Flyer: Eigen assert size mismatch
- ✅ ComputeControl - Valid test

IMPORTANT: All tests that are testing against non-nominal inputs have been DISABLED

ArthurVal · 2025-01-07T10:11:04Z

NOTE: Rebased onto humble-devel (43151c1)

ArthurVal · 2025-01-07T11:49:49Z

@Kotochleb / @MaximilienNaveau
I'll need your help to complete the tests of the LF controller, since I don't know how to generate the inputs of the compute_control(...) function in order to make it work/fail.

I added some template, with TOTO tags for it.

tests/utils/robot_model.hpp

tests/test_lf_controller.cpp

ArthurVal · 2025-01-20T09:45:20Z

@Kotochleb / @MaximilienNaveau
I implemented the tests but disabled all but the 'valid' tests (i.e. tests that are taking 'normal' data) since they were crashing due to assert/seg faults.
There is still an issue with compute_control() and free flyer matrices dimensions but I think this is an issue with the LFController code, not the tests (following my discussions on the theory with @Kotochleb).

tests/utils/eigen_conversions.hpp

tests/utils/lf_controller.hpp

Kotochleb · 2025-01-20T13:16:14Z

tests/test_lf_controller.cpp

+    wrong_control.feedback_gain.bottomRows<1>() =
+        ::Eigen::VectorXd::Random(wrong_control.feedback_gain.cols());
+
+    wrong_control.feedback_gain.rightCols<1>() =
+        ::Eigen::VectorXd::Random(wrong_control.feedback_gain.rows());


Suggested change

wrong_control.feedback_gain.bottomRows<1>() =

::Eigen::VectorXd::Random(wrong_control.feedback_gain.cols());

wrong_control.feedback_gain.rightCols<1>() =

::Eigen::VectorXd::Random(wrong_control.feedback_gain.rows());

wrong_control.feedback_gain.bottomRows<1>() =

::Eigen::VectorXd::Random(wrong_control.feedback_gain.cols() + 1);

wrong_control.feedback_gain.rightCols<1>() =

::Eigen::VectorXd::Random(wrong_control.feedback_gain.rows());

Shouldn't at least one of those have +1? It seems that you are leaving value in bottom right corner unset. Even though it is very minor issue I think it would be nice to fix it

No, because of the Grow() above, the sizes match.
It's the opposite in fact, we are updating the bottom right element twice, but I'd say that it's not very important.

Also I guess Eigen would have report a size mismatch if it was the case (not sure ?).

At this point, I am also not 100% sure, but I wouldn't assume it's all fine. When you compile in RelWithDebInfo or Release I think Eigen is stopping dynamic size checking. Maybe a good idea would to enforce that tests are build in Debug so that all possible asserts will be triggered. From my experience if Debug works all the rest will as well

tests/test_lf_controller.cpp

tests/utils/eigen_conversions.hpp

tests/utils/robot_model.hpp

tests/utils/eigen.hpp

for more information, see https://pre-commit.ci

Templated stuff may be too confusing

ArthurVal · 2025-01-31T07:39:11Z

Rebased into humble-devel (DISABLED pd_controller tests)

ArthurVal changed the title ~~Add/lf controller unittests~~ Add the LFController unit tests Dec 11, 2024

ArthurVal added the enhancement New feature or request label Dec 16, 2024

ArthurVal force-pushed the add/lf_controller_unittests branch from 1766749 to afb73ba Compare January 7, 2025 10:09

ArthurVal requested review from Kotochleb and MaximilienNaveau January 7, 2025 11:47

ArthurVal self-assigned this Jan 7, 2025

MaximilienNaveau reviewed Jan 8, 2025

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ArthurVal mentioned this pull request Jan 10, 2025

Add the 'LinearFeedbackController' unit-tests #49

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12 tasks

ArthurVal marked this pull request as ready for review January 20, 2025 09:45

MaximilienNaveau reviewed Jan 20, 2025

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Kotochleb requested changes Jan 21, 2025

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ArthurVal requested review from Kotochleb and MaximilienNaveau January 27, 2025 15:46

MaximilienNaveau reviewed Jan 28, 2025

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ArthurVal mentioned this pull request Jan 30, 2025

Disable all non-nominal tests of the PD controller #53

Merged

ArthurVal requested a review from MaximilienNaveau January 30, 2025 15:31

ArthurVal and others added 9 commits January 31, 2025 08:36

[lf_controller] Add dummy initial unittest for the LF Controller

3ae60ce

[pre-commit.ci] auto fixes from pre-commit.com hooks

3411e2b

for more information, see https://pre-commit.ci

[lf_controller] Add Ctor test

9bb4851

[lf_controller] Add Init with empty model test

2dd175c

[lf_controller] Add Init with nullptr test

71c4dcb

[lf_controller] Comment out EXAMPLE_ROBOT_DATA_MODEL_DIR

a5fb97e

[lf_controller] Define test fixture (empty for now)

8e57ee4

[lf_controller] Add unit test for .initialize() with valid model

3090752

[lf_controller] Rename utils/file to file_operation

0e4a8e8

ArthurVal added 25 commits January 31, 2025 08:36

[lf_controller] Remove SCOPE_TRACE from SpecialDouble tests

28d0bbd

[tests] Remove utils/array & utils/file_operation (not used)

fde8554

[lf_controller] Fix the size issues with free flyer tests

c37c6b1

[lf_controller] Disable the SpecialDouble test

99b399c

[lf_controller] Remove un-used headers

e0c4838

[lf_controller] Clean up the expected_control (still WIP)

eac4e70

[tests] Update print_to with meta functions + fix TryToPrintTo API

0e8622c

[lf_controller] Refactor to use ModelDescription as Test params

1f33867

[lf_controller] Update the Valid ComputeControl test

3b323f2

[test utils] Change the Eigen Vector PrintTo default strip

758fba3

[lf_controller] Move Make* LFController function into utils/

ddcf5b0

[lf_controller] Update to cleaner Push* implementation

1a998db

[lf_controller] Fix wrong_control feedforward vs feedback_gains

d625e6a

[lf_controller] MakeRobotModelBuilderFrom use 'const ref'

e3d6482

[utils] Fix std::is_base_of<> usage

1de6d9e

[lf_controller] Remove View and ModelDescr template stuff

8f2c6ef

Templated stuff may be too confusing

[utils] Fix internale doc/comment of ConcatenateAs

bf2e2b5

[utils] Fix wrong MakeAllModelDescription documentation

ea21689

[lf_controller] Add JointState size mismatch test for control x_0

efb8c80

[lf_controller] Remove unused commented index prints

b5a5149

[utils] Refactor out the init statement of the if(...) for RMB

3c677f1

[utils] Replace #pragma once with header guards

fc9e52b

[utils] Remove the ConcatenateAs function

554d46d

[lf_controller] Refactor expected computation into utils/

2b3def1

[lf_controller] Fix the error computation (using pinocchio)

2049ffe

ArthurVal force-pushed the add/lf_controller_unittests branch from 0c3dc11 to 2049ffe Compare January 31, 2025 07:38

ArthurVal added 3 commits January 31, 2025 09:20

[lf_controller] Fix wrong inline doc

7b939b7

[lf_controller] Fix missing doc for ExpectedLFControllerFrom

7200daa

[lf_controller] Refactor ExpectedLFControllerFrom args order

80dac66

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Add the LFController unit tests #46

Add the LFController unit tests #46

ArthurVal commented Dec 11, 2024 •

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ArthurVal commented Jan 7, 2025 •

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ArthurVal commented Jan 7, 2025

ArthurVal commented Jan 20, 2025

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ArthurVal commented Jan 31, 2025

Add the LFController unit tests #46

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ArthurVal commented Dec 11, 2024 •

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