From a545cea435e9d7a0e410839a2c7a3031e29815ab Mon Sep 17 00:00:00 2001
From: mnaveau <maximilien.naveau@laas.fr>
Date: Mon, 3 Nov 2014 18:05:46 +0100
Subject: [PATCH] clean cmake tools for metapod
---
cmake_metapod_configure.cmake | 4 ++--
tests/TestMorisawa2007.cpp | 29 ++++++++++++++++-------------
tests/TestObject.cpp | 2 +-
3 files changed, 19 insertions(+), 16 deletions(-)
diff --git a/cmake_metapod_configure.cmake b/cmake_metapod_configure.cmake
index 797c81c2..94b8c765 100644
--- a/cmake_metapod_configure.cmake
+++ b/cmake_metapod_configure.cmake
@@ -69,9 +69,9 @@ FUNCTION(ADD_SAMPLEURDFMODEL name)
ENDIF()
SET(_libname "metapod_${name}")
SET(_data_path "$ENV{ROS_WORKSPACE}/install/share/metapod/data/${name}")
- SET(_urdf_file "$ENV{ROS_WORKSPACE}/stacks/hrp2/hrp2_14_description/urdf/hrp2_14_reduced.urdf")
+ SET(_urdf_file "${_data_path}/${name}.urdf")
SET(_config_file "${_data_path}/${name}.config")
- SET(_license_file "${_data_path}/hrp2_14_license_file.txt")
+ SET(_license_file "${_data_path}/${name}_license_file.txt")
SET(_model_dir "$ENV{ROS_WORKSPACE}/install/include/metapod/models/${name}")
SET(METAPODFROMURDF_EXECUTABLE "$ENV{ROS_WORKSPACE}/install/bin/metapodfromurdf")
diff --git a/tests/TestMorisawa2007.cpp b/tests/TestMorisawa2007.cpp
index 1581bc3f..a014b698 100644
--- a/tests/TestMorisawa2007.cpp
+++ b/tests/TestMorisawa2007.cpp
@@ -321,7 +321,7 @@ protected:
<< filterprecision(m_OneStep.finalCOMPosition.x[0] ) << " " // 2
<< filterprecision(m_OneStep.finalCOMPosition.y[0] ) << " " // 3
<< filterprecision(m_OneStep.finalCOMPosition.z[0] ) << " " // 4
- << filterprecision(m_OneStep.finalCOMPosition.yaw[0] ) << " " // 5
+ << filterprecision(m_OneStep.finalCOMPosition.yaw[0] ) << " " // 5
<< filterprecision(m_OneStep.finalCOMPosition.x[1] ) << " " // 6
<< filterprecision(m_OneStep.finalCOMPosition.y[1] ) << " " // 7
<< filterprecision(m_OneStep.finalCOMPosition.z[1] ) << " " // 8
@@ -336,7 +336,7 @@ protected:
<< filterprecision(m_OneStep.LeftFootPosition.ddx ) << " " // 17
<< filterprecision(m_OneStep.LeftFootPosition.ddy ) << " " // 18
<< filterprecision(m_OneStep.LeftFootPosition.ddz ) << " " // 19
- << filterprecision(m_OneStep.LeftFootPosition.theta*M_PI/180 ) << " " // 20
+ << filterprecision(m_OneStep.LeftFootPosition.theta*M_PI/180 ) << " " // 20
<< filterprecision(m_OneStep.LeftFootPosition.omega ) << " " // 21
<< filterprecision(m_OneStep.LeftFootPosition.omega2 ) << " " // 22
<< filterprecision(m_OneStep.RightFootPosition.x ) << " " // 23
@@ -704,17 +704,20 @@ protected:
aPGI.ParseCmd(strm2);
}
{
- istringstream strm2(":stepstairseq\
- 0.0 -0.105 0.0 0.0\
- 0.2 0.19 0.0174977327 0.0\
- 0.2 -0.19 0.0174977327 0.0\
- 0.2 0.19 0.0174977327 0.0\
- 0.2 -0.19 0.0174977327 0.0\
- 0.2 0.19 0.0174977327 0.0\
- 0.2 -0.19 0.0174977327 0.0\
- 0.2 0.19 0.0174977327 0.0\
- 0.0 -0.19 0.0 0.0\
- ");
+ istringstream strm2(":stepstairseq\
+ 0.0 -0.105 0.0 0.0\
+ 0.2 0.19 0.0 0.0\
+ 0.2 -0.19 0.0 0.0\
+ 0.2 0.19 0.0 0.0\
+ 0.2 -0.19 0.0 0.0\
+ 0.2 0.19 0.0 0.0\
+ 0.2 -0.19 0.0 0.0\
+ 0.2 0.19 0.0 0.0\
+ 0.2 -0.19 0.0 0.0\
+ 0.2 0.19 0.0 0.0\
+ 0.2 -0.19 0.0 0.0\
+ 0.0 0.19 0.0 0.0\
+ ");
// 0.0 -0.19 0.0 0.174532925\
// 0.0 0.19 0.0 0.174532925\
diff --git a/tests/TestObject.cpp b/tests/TestObject.cpp
index 4a7f97bb..5a2ce25b 100644
--- a/tests/TestObject.cpp
+++ b/tests/TestObject.cpp
@@ -343,7 +343,7 @@ namespace PatternGeneratorJRL
<< filterprecision(m_OneStep.finalCOMPosition.x[0] ) << " " // 2
<< filterprecision(m_OneStep.finalCOMPosition.y[0] ) << " " // 3
<< filterprecision(m_OneStep.finalCOMPosition.z[0] ) << " " // 4
- << filterprecision(m_OneStep.finalCOMPosition.yaw[0] ) << " " // 5
+ << filterprecision(m_OneStep.finalCOMPosition.yaw[0] ) << " " // 5
<< filterprecision(m_OneStep.finalCOMPosition.x[1] ) << " " // 6
<< filterprecision(m_OneStep.finalCOMPosition.y[1] ) << " " // 7
<< filterprecision(m_OneStep.finalCOMPosition.z[1] ) << " " // 8
--
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