Commit 3c98ea04 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

Merge branch 'devel' into 'devel'

Devel

See merge request !24
parents 63717db4 887b4d1d
Pipeline #7743 passed with stage
in 32 minutes and 31 seconds
......@@ -76,7 +76,9 @@ ADD_REQUIRED_DEPENDENCY("pinocchio >= 2.2.1")
ADD_REQUIRED_DEPENDENCY("parametric-curves")
#ADD_REQUIRED_DEPENDENCY("eigen-quadprog")
ADD_REQUIRED_DEPENDENCY("eiquadprog")
ADD_OPTIONAL_DEPENDENCY("talos_data")
IF(BUILD_TEST)
ADD_REQUIRED_DEPENDENCY("talos_data")
ENDIF(BUILD_TEST)
SET(SOTTALOSBALANCE_LIB_NAME ${PROJECT_NAME})
SET(LIBRARY_NAME ${SOTTALOSBALANCE_LIB_NAME})
......@@ -191,4 +193,6 @@ IF(BUILD_ROS_PACKAGES AND NOT INSTALL_PYTHON_INTERFACE_ONLY)
ADD_SUBDIRECTORY(ros)
ENDIF(BUILD_ROS_PACKAGES AND NOT INSTALL_PYTHON_INTERFACE_ONLY)
ADD_SUBDIRECTORY(unittest)
IF(BUILD_TEST)
ADD_SUBDIRECTORY(unittest)
ENDIF(BUILD_TEST)
......@@ -10,5 +10,6 @@
#ifndef TEST_PATHS_H
#define PLUGIN_LIB_INSTALL_PATH "${SOT_PLUGIN_OUT_DIR}"
#define TALOS_DATA_MODEL_DIR "${TALOS_DATA_PREFIX}/share/talos_data/"
#endif
......@@ -9,6 +9,8 @@
#include <boost/test/unit_test.hpp>
#include "test-paths.h"
using namespace dynamicgraph::sot;
using namespace dynamicgraph::sot::talos_balance;
......@@ -34,12 +36,7 @@ BOOST_AUTO_TEST_CASE ( test_distribute )
std::cout << "q: " << q.transpose() << std::endl;
//from rospkg import RosPack
//rospack = RosPack()
//urdfPath = rospack.get_path('talos_data')+"/urdf/talos_reduced.urdf"
//urdfDir = [rospack.get_path('talos_data')+"/../"]
std::string urdfPath = "/opt/openrobots/share/talos_data/urdf/talos_reduced.urdf";
std::string urdfPath = TALOS_DATA_MODEL_DIR "urdf/talos_reduced.urdf";
pinocchio::Model model;
pinocchio::urdf::buildModel(urdfPath, pinocchio::JointModelFreeFlyer(), model);
......@@ -317,4 +314,3 @@ BOOST_AUTO_TEST_CASE ( test_distribute )
}
BOOST_AUTO_TEST_SUITE_END ()
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