Merge branch 'devel' into 'devel'

Devel

See merge request !24

CMakeLists.txt

@@ -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)

unittest/test-paths.h.cmake

@@ -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

unittest/test_distribute.cpp

@@ -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 ()
-