diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 5a419baf6749912bedada57e6df641575561ba02..16fb181e673ef53388d98ffa23070056e2edc08b 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -49,4 +49,3 @@ IF (TEST_UR5)
ADD_TESTCASE (test-constraintgraph FALSE)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DTEST_UR5")
ENDIF ()
-# ADD_TESTCASE (path-projection FALSE) # moved in hpp-core
diff --git a/tests/path-projection.cc b/tests/path-projection.cc
deleted file mode 100644
index fdb17625d810ff5bfe38454f1b56fd183c64b977..0000000000000000000000000000000000000000
--- a/tests/path-projection.cc
+++ /dev/null
@@ -1,218 +0,0 @@
-// Copyright (c) 2014, LAAS-CNRS
-// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
-//
-// This file is part of hpp-manipulation.
-// hpp-manipulation 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.
-//
-// hpp-manipulation 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
-// hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
-
-#define ARM_LENGTH 1
-#define FOREARM_LENGTH 1
-#define STEP_PATH (value_type)0.01
-
-#include <math.h>
-
-#include <boost/assign/list_of.hpp>
-
-#include <pinocchio/multibody/model.hpp>
-
-#include <hpp/pinocchio/device.hh>
-#include <hpp/pinocchio/joint.hh>
-#include <hpp/pinocchio/configuration.hh>
-
-#include <hpp/core/path-projector/progressive.hh>
-#include <hpp/core/steering-method-straight.hh>
-#include <hpp/core/numerical-constraint.hh>
-#include <hpp/core/weighed-distance.hh>
-#include <hpp/core/config-projector.hh>
-#include <hpp/core/constraint-set.hh>
-#include <hpp/core/problem.hh>
-
-#include <hpp/constraints/generic-transformation.hh>
-
-#define REQUIRE_MESSAGE(b,m) do {\
- if (!b) {\
- std::cout << m << std::endl;\
- exit(1);\
- }}\
- while (0)
-
-using hpp::pinocchio::Device;
-using hpp::pinocchio::DevicePtr_t;
-using hpp::pinocchio::JointPtr_t;
-using hpp::pinocchio::BodyPtr_t;
-using hpp::pinocchio::Configuration_t;
-using hpp::pinocchio::value_type;
-using hpp::pinocchio::Transform3f;
-
-using hpp::constraints::Position;
-using hpp::constraints::PositionPtr_t;
-using hpp::constraints::matrix3_t;
-using hpp::constraints::vector3_t;
-
-using hpp::core::StraightPath;
-using hpp::core::StraightPathPtr_t;
-using hpp::core::Path;
-using hpp::core::PathPtr_t;
-using hpp::core::WeighedDistance;
-using hpp::core::WeighedDistancePtr_t;
-using hpp::core::SteeringMethodStraight;
-using hpp::core::SteeringMethodPtr_t;
-using hpp::core::ConstraintSet;
-using hpp::core::ConstraintSetPtr_t;
-using hpp::core::ConfigProjector;
-using hpp::core::ConfigProjectorPtr_t;
-using hpp::constraints::Implicit;
-
-using boost::assign::list_of;
-
-using hpp::core::pathProjector::ProgressivePtr_t;
-using hpp::core::pathProjector::Progressive;
-
-using hpp::core::Problem;
-using hpp::core::ProblemPtr_t;
-
-const matrix3_t I3 (matrix3_t::Identity());
-
-namespace hpp_test {
-
- template<typename JointModel>
- static void addJointAndBody(se3::Model & model,
- const se3::JointModelBase<JointModel> & joint,
- const vector3_t shift,
- const se3::JointIndex & parent,
- const std::string & name)
- {
- typedef typename JointModel::ConfigVector_t CV;
- typedef typename JointModel::TangentVector_t TV;
-
- se3::JointIndex idx;
-
- idx = model.addJoint(parent, joint, se3::SE3 (I3, shift), name,
- TV::Random() + TV::Constant(1),
- TV::Random() + TV::Constant(1),
- CV::Random() - CV::Constant(1),
- CV::Random() + CV::Constant(1));
- model.addJointFrame (idx);
-
- model.appendBodyToJoint(idx,se3::Inertia::Random(),se3::SE3::Identity());
- model.addBodyFrame(name + "_BODY", idx);
- }
-
- DevicePtr_t createRobot ()
- {
- DevicePtr_t robot = Device::create ("test");
- se3::Model& model = robot->model();
-
- // lleg
- addJointAndBody(model,se3::JointModelRX(),vector3_t::Zero(), 0, "ARM");
- addJointAndBody(model,se3::JointModelRX(),vector3_t(0, ARM_LENGTH, 0), 1, "FOREARM");
- model.addFrame(se3::Frame("EE", 2, model.getFrameId("FOREARM"), se3::SE3::Identity(), se3::FIXED_JOINT));
-
- robot->createData();
- robot->controlComputation((Device::Computation_t) (Device::JOINT_POSITION | Device::JACOBIAN));
- robot->currentConfiguration(robot->neutralConfiguration());
- robot->computeForwardKinematics();
- return robot;
- }
-
- std::ostream& print (std::ostream& os, const Configuration_t& c)
- {
- os << "[ \t";
- for (int i = 0; i < c.size () - 1; i++)
- os << c[i] << ",\t";
- return os << c[c.size() - 1] << "]";
- }
-
- std::ostream& printpath (std::ostream& os, const Path& p)
- {
- value_type t = p.timeRange ().first;
- bool noWarning;
- while (t < p.timeRange().second) {
- print (os, p (t, noWarning)) << ",";
- t += STEP_PATH;
- }
- return print (os, p (p.timeRange ().second, noWarning));
- }
-
- namespace pythonscript {
- std::ostream& start (std::ostream& os)
- {
- os << "import numpy as np\n"
- << "import matplotlib.pyplot as plt\n";
- return os;
- }
-
- std::ostream& pathToVar (std::ostream& os, const Path& p, const std::string& var)
- {
- os << var << " = np.array ([\n";
- return printpath (os, p) << "\n])\n";
- }
-
- std::ostream& plot (std::ostream& os, const std::string& var)
- {
- os << "fig = plt.figure ()\n"
- << "axes = fig.gca ()\n"
- << "axes.plot (" << var << "[:,0], " << var << "[:,1], '-.', marker='+', markeredgecolor='r', markersize=5)\n"
- << "axes.set_xlabel ('Theta 1')\n"
- << "axes.set_ylabel ('Theta 2')\n"
- << "axes.set_title ('" << var << "')\n"
- << "plt.show ()\n";
- return os;
- }
- }
-}
-
-int main (int , char**) {
- DevicePtr_t r = hpp_test::createRobot ();
- JointPtr_t ee = r->getJointByName ("FOREARM");
- vector3_t target (0, (ARM_LENGTH + FOREARM_LENGTH ) / 2, 0),
- origin (0, FOREARM_LENGTH, 0);
- PositionPtr_t c = Position::create ("Pos", r, ee,
- Transform3f(I3, origin), Transform3f(I3, target),
- list_of (false)(true)(false).convert_to_container<std::vector<bool> >());
- ConstraintSetPtr_t cs = ConstraintSet::create (r, "test-cs");
- ConfigProjectorPtr_t proj = ConfigProjector::create (r, "test", 1e-4, 20);
- proj->add (Implicit::create (c));
- cs->addConstraint (proj);
- ProblemPtr_t problem (new Problem (r));
- WeighedDistancePtr_t dist = WeighedDistance::createWithWeight
- (r, list_of (1)(1));
- problem->distance (dist);
- SteeringMethodPtr_t sm (SteeringMethodStraight::create (problem));
- const WeighedDistance& d = *dist;
- ProgressivePtr_t pp_ptr = Progressive::create (dist, sm, 0.1);
- Progressive pp = *pp_ptr;
-
- Configuration_t qinit (2), qgoal (2);
- qinit[0] = M_PI / 3; qinit[1] = -M_PI / 3;
- qgoal[0] = -M_PI / 3; qgoal[1] = M_PI / 3;
- Configuration_t qinitp = qinit,
- qgoalp = qgoal;
- REQUIRE_MESSAGE (cs->apply (qinitp), "Could not project " << qinit);
- REQUIRE_MESSAGE (cs->apply (qgoalp), "Could not project " << qgoal);
- value_type l = d (qinitp, qgoalp);
- StraightPathPtr_t sp = StraightPath::create (r, qinitp, qgoalp, l);
- std::ostream& out = std::cout;
- hpp_test::pythonscript::start (out);
- std::string n = "direct_path";
- hpp_test::pythonscript::pathToVar (out, *sp, n);
- hpp_test::pythonscript::plot (out, n);
- sp = HPP_STATIC_PTR_CAST (StraightPath, sp->copy (cs));
- n = "naive_projection";
- hpp_test::pythonscript::pathToVar (out, *sp, n);
- hpp_test::pythonscript::plot (out, n);
- PathPtr_t pProj;
- pp.apply (sp, pProj);
- n = "proj_progressive";
- hpp_test::pythonscript::pathToVar (out, *pProj, n);
- hpp_test::pythonscript::plot (out, n);
-}