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343 changes: 343 additions & 0 deletions test_aba.cu
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// #include "grid.cuh"
#include "/home/a2rlab4/GRiDBenchmarks/GRiD/grid.cuh"
#include <assert.h>
#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include <cuda_runtime.h>


int iiwa(){
grid::gridData<float> *hd_data = grid::init_gridData<float,1>();
grid::robotModel<float> *d_robotModel = grid::init_robotModel<float>();;
const int num_timesteps = 1;
float gravity = static_cast<float>(9.81);
dim3 dimms(grid::SUGGESTED_THREADS,1,1);
cudaStream_t *streams = grid::init_grid<float>();
hd_data->h_q_qd_u[0] = 1.24;
hd_data->h_q_qd_u[1] = 0.13;
hd_data->h_q_qd_u[2] = -0.17;
hd_data->h_q_qd_u[3] = 1.33;
hd_data->h_q_qd_u[4] = 0.22;
hd_data->h_q_qd_u[5] = -0.56;
hd_data->h_q_qd_u[6] = 0.99;

hd_data->h_q_qd_u[7] = 0;
hd_data->h_q_qd_u[8] = 0;
hd_data->h_q_qd_u[9] = 0;
hd_data->h_q_qd_u[10] = 0;
hd_data->h_q_qd_u[11] = 0;
hd_data->h_q_qd_u[12] = 0;
hd_data->h_q_qd_u[13] = 0;

hd_data->h_q_qd_u[14] = 0;
hd_data->h_q_qd_u[15] = 0;
hd_data->h_q_qd_u[16] = 0;
hd_data->h_q_qd_u[17] = 0;
hd_data->h_q_qd_u[18] = 0;
hd_data->h_q_qd_u[19] = 0;
hd_data->h_q_qd_u[20] = 0;

gpuErrchk(cudaMemcpy(hd_data->d_q_qd_u,hd_data->h_q_qd_u,3*grid::NUM_JOINTS*sizeof(float),cudaMemcpyHostToDevice));
gpuErrchk(cudaDeviceSynchronize());

printf("q,qd,u\n");
printMat<float,1,grid::NUM_JOINTS>(hd_data->h_q_qd_u,1);
printMat<float,1,grid::NUM_JOINTS>(&hd_data->h_q_qd_u[grid::NUM_JOINTS],1);
printMat<float,1,grid::NUM_JOINTS>(&hd_data->h_q_qd_u[2*grid::NUM_JOINTS],1);

printf("aba\n");
grid::aba<float>(hd_data, d_robotModel, gravity, 1, dim3(1,1,1), dimms, streams);
printMat<float,1,grid::NUM_JOINTS>(hd_data->h_qdd,1);
return 0;
}

int hyq(){
grid::gridData<float> *hd_data = grid::init_gridData<float,1>();
grid::robotModel<float> *d_robotModel = grid::init_robotModel<float>();;
const int num_timesteps = 1;
float gravity = static_cast<float>(9.81);
dim3 dimms(grid::SUGGESTED_THREADS,1,1);
cudaStream_t *streams = grid::init_grid<float>();
hd_data->h_q_qd_u[0] = 0.8;
hd_data->h_q_qd_u[1] = 0.3;
hd_data->h_q_qd_u[2] = 1;
hd_data->h_q_qd_u[3] = 0.2;
hd_data->h_q_qd_u[4] = 0.7;
hd_data->h_q_qd_u[5] = 0.6;
hd_data->h_q_qd_u[6] = 0.4;
hd_data->h_q_qd_u[7] = 0.5;
hd_data->h_q_qd_u[8] = 0.3;
hd_data->h_q_qd_u[9] = 0.8;
hd_data->h_q_qd_u[10] = 0.1;
hd_data->h_q_qd_u[11] = 0.2;

hd_data->h_q_qd_u[12] = 0.1;
hd_data->h_q_qd_u[13] = 0.1;
hd_data->h_q_qd_u[14] = 0.1;
hd_data->h_q_qd_u[15] = 0.1;
hd_data->h_q_qd_u[16] = 0.1;
hd_data->h_q_qd_u[17] = 0.1;
hd_data->h_q_qd_u[18] = 0.1;
hd_data->h_q_qd_u[19] = 0.1;
hd_data->h_q_qd_u[20] = 0.1;
hd_data->h_q_qd_u[21] = 0.1;
hd_data->h_q_qd_u[22] = 0.1;

hd_data->h_q_qd_u[23] = 0.1;
hd_data->h_q_qd_u[24] = 0.1;
hd_data->h_q_qd_u[25] = 0.1;
hd_data->h_q_qd_u[26] = 0.1;
hd_data->h_q_qd_u[27] = 0.1;
hd_data->h_q_qd_u[28] = 0.1;
hd_data->h_q_qd_u[29] = 0.1;
hd_data->h_q_qd_u[30] = 0.1;
hd_data->h_q_qd_u[31] = 0.1;
hd_data->h_q_qd_u[32] = 0.1;


gpuErrchk(cudaMemcpy(hd_data->d_q_qd_u,hd_data->h_q_qd_u,3*grid::NUM_JOINTS*sizeof(float),cudaMemcpyHostToDevice));
gpuErrchk(cudaDeviceSynchronize());

printf("q,qd,u\n");
printMat<float,1,grid::NUM_JOINTS>(hd_data->h_q_qd_u,1);
printMat<float,1,grid::NUM_JOINTS>(&hd_data->h_q_qd_u[grid::NUM_JOINTS],1);
printMat<float,1,grid::NUM_JOINTS>(&hd_data->h_q_qd_u[2*grid::NUM_JOINTS],1);

printf("aba\n");
grid::aba<float>(hd_data, d_robotModel, gravity, 1, dim3(1,1,1), dimms, streams);
printMat<float,1,grid::NUM_JOINTS>(hd_data->h_qdd,1);

return 0;
}

int hyq_missing_limb(){
grid::gridData<float> *hd_data = grid::init_gridData<float,1>();
grid::robotModel<float> *d_robotModel = grid::init_robotModel<float>();;
const int num_timesteps = 1;
float gravity = static_cast<float>(9.81);
dim3 dimms(grid::SUGGESTED_THREADS,1,1);
cudaStream_t *streams = grid::init_grid<float>();
hd_data->h_q_qd_u[0] = 0.8;
hd_data->h_q_qd_u[1] = 0.3;
hd_data->h_q_qd_u[2] = 1;
hd_data->h_q_qd_u[3] = 0.2;
hd_data->h_q_qd_u[4] = 0.7;
hd_data->h_q_qd_u[5] = 0.6;
hd_data->h_q_qd_u[6] = 0.4;
hd_data->h_q_qd_u[7] = 0.4;
hd_data->h_q_qd_u[8] = 0.3;
hd_data->h_q_qd_u[9] = 0.8;
hd_data->h_q_qd_u[10] = 0.1;

hd_data->h_q_qd_u[11] = 0;
hd_data->h_q_qd_u[12] = 0;
hd_data->h_q_qd_u[13] = 0;
hd_data->h_q_qd_u[14] = 0;
hd_data->h_q_qd_u[15] = 0;
hd_data->h_q_qd_u[16] = 0;
hd_data->h_q_qd_u[17] = 0;
hd_data->h_q_qd_u[18] = 0;
hd_data->h_q_qd_u[19] = 0;
hd_data->h_q_qd_u[20] = 0;
hd_data->h_q_qd_u[21] = 0;

hd_data->h_q_qd_u[22] = 0;
hd_data->h_q_qd_u[23] = 0;
hd_data->h_q_qd_u[24] = 0;
hd_data->h_q_qd_u[25] = 0;
hd_data->h_q_qd_u[26] = 0;
hd_data->h_q_qd_u[27] = 0;
hd_data->h_q_qd_u[28] = 0;
hd_data->h_q_qd_u[29] = 0;
hd_data->h_q_qd_u[30] = 0;
hd_data->h_q_qd_u[31] = 0;
hd_data->h_q_qd_u[32] = 0;


gpuErrchk(cudaMemcpy(hd_data->d_q_qd_u,hd_data->h_q_qd_u,3*grid::NUM_JOINTS*sizeof(float),cudaMemcpyHostToDevice));
gpuErrchk(cudaDeviceSynchronize());

printf("q,qd,u\n");
printMat<float,1,grid::NUM_JOINTS>(hd_data->h_q_qd_u,1);
printMat<float,1,grid::NUM_JOINTS>(&hd_data->h_q_qd_u[grid::NUM_JOINTS],1);
printMat<float,1,grid::NUM_JOINTS>(&hd_data->h_q_qd_u[2*grid::NUM_JOINTS],1);

printf("aba\n");
grid::aba<float>(hd_data, d_robotModel, gravity, 1, dim3(1,1,1), dimms, streams);
printMat<float,1,grid::NUM_JOINTS>(hd_data->h_qdd,1);

return 0;
}

int atlas(){
grid::gridData<float> *hd_data = grid::init_gridData<float,1>();
grid::robotModel<float> *d_robotModel = grid::init_robotModel<float>();;
const int num_timesteps = 1;
float gravity = static_cast<float>(9.81);
dim3 dimms(grid::SUGGESTED_THREADS,1,1);
cudaStream_t *streams = grid::init_grid<float>();
hd_data->h_q_qd_u[0] = 0.8;
hd_data->h_q_qd_u[1] = 0.3;
hd_data->h_q_qd_u[2] = 1;
hd_data->h_q_qd_u[3] = 0.2;
hd_data->h_q_qd_u[4] = 0.7;
hd_data->h_q_qd_u[5] = 0.6;
hd_data->h_q_qd_u[6] = 0.4;
hd_data->h_q_qd_u[7] = 0.4;
hd_data->h_q_qd_u[8] = 0.3;
hd_data->h_q_qd_u[9] = 0.8;
hd_data->h_q_qd_u[10] = 0.1;
hd_data->h_q_qd_u[11] = 0.2;
hd_data->h_q_qd_u[12] = 0.3;
hd_data->h_q_qd_u[13] = 0.5;
hd_data->h_q_qd_u[14] = 0.4;
hd_data->h_q_qd_u[15] = 0.37;
hd_data->h_q_qd_u[16] = 0.9;
hd_data->h_q_qd_u[17] = 0.53;
hd_data->h_q_qd_u[18] = 0.2;
hd_data->h_q_qd_u[19] = 1;
hd_data->h_q_qd_u[20] = 0.6;
hd_data->h_q_qd_u[21] = 0.8;
hd_data->h_q_qd_u[22] = 0.9;
hd_data->h_q_qd_u[23] = 0.3;
hd_data->h_q_qd_u[24] = 0.7;
hd_data->h_q_qd_u[25] = 0.44;
hd_data->h_q_qd_u[26] = 0.28;
hd_data->h_q_qd_u[27] = 0.6;
hd_data->h_q_qd_u[28] = 1;
hd_data->h_q_qd_u[29] = 0.1;

hd_data->h_q_qd_u[60] = 0.1;
hd_data->h_q_qd_u[61] = 0.1;
hd_data->h_q_qd_u[62] = 0.1;
hd_data->h_q_qd_u[63] = 0.1;
hd_data->h_q_qd_u[64] = 0.1;
hd_data->h_q_qd_u[65] = 0.1;
hd_data->h_q_qd_u[66] = 0.1;
hd_data->h_q_qd_u[67] = 0.1;
hd_data->h_q_qd_u[68] = 0.1;
hd_data->h_q_qd_u[69] = 0.1;
hd_data->h_q_qd_u[70] = 0.1;
hd_data->h_q_qd_u[71] = 0.1;
hd_data->h_q_qd_u[72] = 0.1;
hd_data->h_q_qd_u[73] = 0.1;
hd_data->h_q_qd_u[74] = 0.1;
hd_data->h_q_qd_u[75] = 0.1;
hd_data->h_q_qd_u[76] = 0.1;
hd_data->h_q_qd_u[77] = 0.1;
hd_data->h_q_qd_u[78] = 0.1;
hd_data->h_q_qd_u[79] = 0.1;
hd_data->h_q_qd_u[80] = 0.1;
hd_data->h_q_qd_u[81] = 0.1;
hd_data->h_q_qd_u[82] = 0.1;
hd_data->h_q_qd_u[83] = 0.1;
hd_data->h_q_qd_u[84] = 0.1;
hd_data->h_q_qd_u[85] = 0.1;
hd_data->h_q_qd_u[86] = 0.1;
hd_data->h_q_qd_u[87] = 0.1;
hd_data->h_q_qd_u[88] = 0.1;
hd_data->h_q_qd_u[89] = 0.1;

hd_data->h_q_qd_u[30] = 0.1;
hd_data->h_q_qd_u[31] = 0.1;
hd_data->h_q_qd_u[32] = 0.1;
hd_data->h_q_qd_u[33] = 0.1;
hd_data->h_q_qd_u[34] = 0.1;
hd_data->h_q_qd_u[35] = 0.1;
hd_data->h_q_qd_u[36] = 0.1;
hd_data->h_q_qd_u[37] = 0.1;
hd_data->h_q_qd_u[38] = 0.1;
hd_data->h_q_qd_u[39] = 0.1;
hd_data->h_q_qd_u[40] = 0.1;
hd_data->h_q_qd_u[41] = 0.1;
hd_data->h_q_qd_u[42] = 0.1;
hd_data->h_q_qd_u[43] = 0.1;
hd_data->h_q_qd_u[44] = 0.1;
hd_data->h_q_qd_u[45] = 0.1;
hd_data->h_q_qd_u[46] = 0.1;
hd_data->h_q_qd_u[47] = 0.1;
hd_data->h_q_qd_u[48] = 0.1;
hd_data->h_q_qd_u[49] = 0.1;
hd_data->h_q_qd_u[50] = 0.1;
hd_data->h_q_qd_u[51] = 0.1;
hd_data->h_q_qd_u[52] = 0.1;
hd_data->h_q_qd_u[53] = 0.1;
hd_data->h_q_qd_u[54] = 0.1;
hd_data->h_q_qd_u[55] = 0.1;
hd_data->h_q_qd_u[56] = 0.1;
hd_data->h_q_qd_u[57] = 0.1;
hd_data->h_q_qd_u[58] = 0.1;
hd_data->h_q_qd_u[59] = 0.1;



gpuErrchk(cudaMemcpy(hd_data->d_q_qd_u,hd_data->h_q_qd_u,3*grid::NUM_JOINTS*sizeof(float),cudaMemcpyHostToDevice));
gpuErrchk(cudaDeviceSynchronize());

printf("q,qd,u\n");
printMat<float,1,grid::NUM_JOINTS>(hd_data->h_q_qd_u,1);
printMat<float,1,grid::NUM_JOINTS>(&hd_data->h_q_qd_u[grid::NUM_JOINTS],1);
printMat<float,1,grid::NUM_JOINTS>(&hd_data->h_q_qd_u[2*grid::NUM_JOINTS],1);

printf("aba\n");
grid::aba<float>(hd_data, d_robotModel, gravity, 1, dim3(1,1,1), dimms, streams);
printMat<float,1,grid::NUM_JOINTS>(hd_data->h_qdd,1);

return 0;
}

int main() {
//uncomment the line for the URDF you are using

iiwa();
//hyq();
//hyq_missing_limb();
// atlas();
return 0;
}

// int main() {
// grid::gridData<float> *hd_data = grid::init_gridData<float,1>();
// grid::robotModel<float> *d_robotModel = grid::init_robotModel<float>();;
// const int num_timesteps = 1;
// float gravity = static_cast<float>(9.81);
// dim3 dimms(grid::SUGGESTED_THREADS,1,1);
// cudaStream_t *streams = grid::init_grid<float>();
// hd_data->h_q_qd_u[0] = 0.8;
// hd_data->h_q_qd_u[1] = 0.3;
// hd_data->h_q_qd_u[2] = 1;
// hd_data->h_q_qd_u[3] = 0.2;
// hd_data->h_q_qd_u[4] = 0.7;
// hd_data->h_q_qd_u[5] = 0.6;
// hd_data->h_q_qd_u[6] = 0.4;

// hd_data->h_q_qd_u[7] = 0;
// hd_data->h_q_qd_u[8] = 0;
// hd_data->h_q_qd_u[9] = 0;
// hd_data->h_q_qd_u[10] = 0;
// hd_data->h_q_qd_u[11] = 0;
// hd_data->h_q_qd_u[12] = 0;
// hd_data->h_q_qd_u[13] = 0;

// hd_data->h_q_qd_u[14] = 0;
// hd_data->h_q_qd_u[15] = 0;
// hd_data->h_q_qd_u[16] = 0;
// hd_data->h_q_qd_u[17] = 0;
// hd_data->h_q_qd_u[18] = 0;
// hd_data->h_q_qd_u[19] = 0;
// hd_data->h_q_qd_u[20] = 0;

// gpuErrchk(cudaMemcpy(hd_data->d_q_qd_u,hd_data->h_q_qd_u,3*grid::NUM_JOINTS*sizeof(float),cudaMemcpyHostToDevice));
// gpuErrchk(cudaDeviceSynchronize());

// printf("q,qd,u\n");
// printMat<float,1,grid::NUM_JOINTS>(hd_data->h_q_qd_u,1);
// printMat<float,1,grid::NUM_JOINTS>(&hd_data->h_q_qd_u[grid::NUM_JOINTS],1);
// printMat<float,1,grid::NUM_JOINTS>(&hd_data->h_q_qd_u[2*grid::NUM_JOINTS],1);

// printf("aba\n");
// grid::aba<float>(hd_data, d_robotModel, gravity, 1, dim3(1,1,1), dimms, streams);
// printMat<float,1,grid::NUM_JOINTS>(hd_data->h_qdd,1);
// return 0;
// }