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Olivier Stasse authoredOlivier Stasse authored
CMakeLists.txt 8.44 KiB
# Copyright 2010, Olivier Stasse, JRL, CNRS/AIST
#
# This file is part of jrl-walkgen.
# jrl-walkgen is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# jrl-walkgen is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# jrl-walkgen. If not, see <http://www.gnu.org/licenses/>.
INCLUDE(CTest)
ADD_LIBRARY(${PROJECT_NAME}-test SHARED
TestObject.cpp
CommonTools.cpp
ClockCPUTime.cpp
DumpReferencesObjects.cpp
../src/portability/gettimeofday.cc )
PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME}-test pinocchio)
TARGET_LINK_LIBRARIES(${PROJECT_NAME}-test ${PROJECT_NAME})
# Make sure private headers can be used.
INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/src)
# Make the config_private.hh file available
CONFIGURE_FILE(${CMAKE_SOURCE_DIR}/private_cmake/config_private.hh.cmake
${CMAKE_BINARY_DIR}/include/${HEADER_DIR}/config_private.hh)
ADD_REQUIRED_DEPENDENCY("simple_humanoid_description >= 1.0.1")
#ADD_OPTIONAL_DEPENDENCY("hrp2_14_description >= 1.0.2")
#################
## Generic test #
#################
#SET(GENERIC_TEST)
IF(GENERIC_TEST)
ADD_EXECUTABLE(TestFootPrintPGInterface
TestFootPrintPGInterfaceData.cpp
TestFootPrintPGInterface.cpp
)
TARGET_LINK_LIBRARIES(TestFootPrintPGInterface ${PROJECT_NAME})
ADD_DEPENDENCIES(TestFootPrintPGInterface ${PROJECT_NAME})
ENDIF(GENERIC_TEST)
##########################
## Test Optimal Cholesky #
##########################
ADD_EXECUTABLE(TestOptCholesky
TestOptCholesky.cpp
../src/Mathematics/OptCholesky.cpp
)
# Add test on the ricatti equation
ADD_TEST(TestOptCholesky TestOptCholesky)
##########################
## Test Bspline #
##########################
#TODO create a proper test for polynomes and bsplines
ADD_EXECUTABLE(TestBsplines
TestBsplines.cpp
../src/Mathematics/Bsplines.cpp
)
##########################
## Test Ricatti Equation #
##########################
CONFIG_FILES_CMAKE(TestRiccatiEquationWeightsWithoutInitialPose.datref)
CONFIG_FILES_CMAKE(TestRiccatiEquationWeightsWithInitialPose.datref)
ADD_EXECUTABLE(TestRiccatiEquation
TestRiccatiEquation.cpp
../src/PreviewControl/OptimalControllerSolver.cpp
)
# Add test on the ricatti equation
ADD_TEST(TestRiccatiEquation TestRiccatiEquation)
TARGET_LINK_LIBRARIES(TestRiccatiEquation ${LAPACK_LIBRARIES} ${PROJECT_NAME})
################################################
## Generic Macro That Create a Boost Test Case #
################################################
MATH(EXPR BITS "8*${CMAKE_SIZEOF_VOID_P}")
MACRO(ADD_JRL_WALKGEN_TEST test_arg test_file_name)
SET(test_name "${test_arg}${BITS}")
CONFIG_FILES_CMAKE(${test_name}TestFGPI.datref)
MESSAGE(STATUS "Prepare test : " ${test_name})
SET(urdfpath
${SIMPLE_HUMANOID_DESCRIPTION_PKGDATAROOTDIR}/simple_humanoid_description/urdf/simple_humanoid.urdf
)
SET(srdfpath
${SIMPLE_HUMANOID_DESCRIPTION_PKGDATAROOTDIR}/simple_humanoid_description/srdf/simple_humanoid.srdf
)
LIST(APPEND LOGGING_WATCHED_VARIABLES urdfpath srdfpath)
ADD_TEST(${test_name} ${test_name} ${urdfpath} ${srdfpath})
ENDMACRO(ADD_JRL_WALKGEN_TEST)
#################################################
MACRO(ADD_JRL_WALKGEN_EXE test_arg test_file_name)
SET(test_name "${test_arg}${BITS}")
ADD_EXECUTABLE(${test_name}
${test_file_name}
)
TARGET_LINK_LIBRARIES(${test_name} ${PROJECT_NAME})
TARGET_LINK_LIBRARIES(${test_name} ${PROJECT_NAME}-test)
PKG_CONFIG_USE_DEPENDENCY(${test_name} pinocchio)
ENDMACRO(ADD_JRL_WALKGEN_EXE)
#######################
## Test Morisawa 2007 #
#######################
#disabled as it fail : fix the code
#ADD_JRL_WALKGEN_TEST(TestMorisawa2007OnLine TestMorisawa2007.cpp)
# the following disabled test case are just useful code for offline
# motion generation using the specialized inverse kinmatics of a robot
#ADD_JRL_WALKGEN_EXE(TestMorisawa2007OnLine TestMorisawa2007.cpp)
#ADD_JRL_WALKGEN_EXE(TestMorisawa2007ShortWalk TestMorisawa2007.cpp)
##ADD_JRL_WALKGEN_EXE(TestMorisawa2007Climbing10 TestMorisawa2007.cpp)
##ADD_JRL_WALKGEN_EXE(TestMorisawa2007Climbing15 TestMorisawa2007.cpp)
##ADD_JRL_WALKGEN_EXE(TestMorisawa2007GoingDown10 TestMorisawa2007.cpp)
##ADD_JRL_WALKGEN_EXE(TestMorisawa2007GoingDown15 TestMorisawa2007.cpp)
#ADD_JRL_WALKGEN_EXE(TestMorisawa2007SteppingStones TestMorisawa2007.cpp)
##ADD_JRL_WALKGEN_EXE(TestMorisawa2007WalkingOnBeam TestMorisawa2007.cpp)
#ADD_JRL_WALKGEN_EXE(TestMorisawa2007GoThroughWall TestMorisawa2007.cpp)
#ADD_JRL_WALKGEN_TEST(TestMorisawa2007OnLine TestMorisawa2007.cpp)
#ADD_JRL_WALKGEN_TEST(TestMorisawa2007ShortWalk TestMorisawa2007.cpp)
#ADD_JRL_WALKGEN_TEST(TestMorisawa2007Climbing TestMorisawa2007.cpp)
#ADD_JRL_WALKGEN_TEST(TestMorisawa2007GoingDown10 TestMorisawa2007.cpp)
#ADD_JRL_WALKGEN_TEST(TestMorisawa2007GoingDown15 TestMorisawa2007.cpp)#ADD_JRL_WALKGEN_TEST(TestMorisawa2007SteppingStones TestMorisawa2007.cpp)
##ADD_JRL_WALKGEN_TEST(TestMorisawa2007WalkingOnBeam TestMorisawa2007.cpp)
#ADD_JRL_WALKGEN_TEST(TestMorisawa2007GoThroughWall TestMorisawa2007.cpp)
####################
## Test Herdt 2010 #
####################
#ADD_JRL_WALKGEN_EXE(TestHerdt2010OnLine TestHerdt2010.cpp)
#ADD_JRL_WALKGEN_EXE(TestHerdt2010EmergencyStop TestHerdt2010.cpp)
#ADD_JRL_WALKGEN_TEST(TestHerdt2010OnLine TestHerdt2010.cpp)
#ADD_JRL_WALKGEN_TEST(TestHerdt2010EmergencyStop TestHerdt2010.cpp)
############################
## Test Inverse Kinematics #
############################
#Disabled : fix the code to handl multiple inverse kinematics
# Todo compare halfsiting pose after forward and inverse kinematics.
#ADD_JRL_WALKGEN_EXE(TestInverseKinematics TestInverseKinematics.cpp)
#ADD_JRL_WALKGEN_TEST(TestInverseKinematics TestInverseKinematics.cpp)
###############################
## Test Dynamic Filter #
###############################
#TO BE FIXED with a proper inverse kinematics computed for the simple humanoid
#ADD_JRL_WALKGEN_EXE(TestDynamicFilter TestKajitaDynamicFilter.cpp)
#ADD_JRL_WALKGEN_TEST(TestDynamicFilter TestKajitaDynamicFilter.cpp)
#####################
## Test Kajita 2003 #
#####################
## These test is disabled for now as it fails.
## FIXME: fix the test and/or the implementation
#CONFIG_FILES_CMAKE(TestKajita2003StraightWalking${BITS}TestFGPI.datref)
#CONFIG_FILES_CMAKE(TestKajita2003Circle${BITS}TestFGPI.datref)
#CONFIG_FILES_CMAKE(TestKajita2003PbFlorentSeq1${BITS}TestFGPI.datref)
#CONFIG_FILES_CMAKE(TestKajita2003PbFlorentSeq2${BITS}TestFGPI.datref)
#CONFIG_FILES_CMAKE(TestKajita2003WalkingOnSpot${BITS}TestFGPI.datref)
ADD_JRL_WALKGEN_EXE(TestKajita2003StraightWalking TestKajita2003.cpp)
ADD_JRL_WALKGEN_EXE(TestKajita2003Circle TestKajita2003.cpp)
ADD_JRL_WALKGEN_EXE(TestKajita2003PbFlorentSeq1 TestKajita2003.cpp)
ADD_JRL_WALKGEN_EXE(TestKajita2003PbFlorentSeq2 TestKajita2003.cpp)
ADD_JRL_WALKGEN_EXE(TestKajita2003WalkingOnSpot TestKajita2003.cpp)
IF(BUILD_TESTING)
ADD_JRL_WALKGEN_TEST(TestKajita2003StraightWalking TestKajita2003.cpp)
ADD_JRL_WALKGEN_TEST(TestKajita2003Circle TestKajita2003.cpp)
ADD_JRL_WALKGEN_TEST(TestKajita2003PbFlorentSeq1 TestKajita2003.cpp)
ADD_JRL_WALKGEN_TEST(TestKajita2003PbFlorentSeq2 TestKajita2003.cpp)
ADD_JRL_WALKGEN_TEST(TestKajita2003WalkingOnSpot TestKajita2003.cpp)
ENDIF(BUILD_TESTING)
##########################
## Read Novela Data 2011 #
##########################
#ADD_JRL_WALKGEN_EXE(ReadDataForNovela ReadDataForNovela.cpp)
#ADD_JRL_WALKGEN_TEST(ReadDataForNovela ReadDataForNovela.cpp)
################
# NMPC test #
################
# Disabled as the test fail : random results oscillating around mean behaviour
ADD_JRL_WALKGEN_EXE(TestNaveau2015Online TestNaveau2015.cpp)
ADD_JRL_WALKGEN_EXE(TestNaveau2015OnlineSimple TestNaveau2015.cpp)
#####################
# Add user examples #
#####################
SET(EXAMPLES_SOURCES
TestFootPrintPGInterfaceData.cpp
TestFootPrintPGInterfaceData.h
TestFootPrintPGInterface.cpp
TestHerdt2010.cpp
CommonTools.cpp
CommonTools.hh
examples.CMakeList
)
INSTALL(FILES ${EXAMPLES_SOURCES}
DESTINATION share/jrl/dynamics/examples/
PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE OWNER_EXECUTE GROUP_EXECUTE WORLD_EXECUTE )