Commit 1f252290 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

pre-commit run -a

parent 9abd7f89
Pipeline #20781 passed with stage
in 19 minutes and 49 seconds
......@@ -16,100 +16,104 @@ set(PROJECT_USE_CMAKE_EXPORT TRUE)
# Check if the submodule cmake have been initialized
set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
IF(NOT EXISTS "${CMAKE_SOURCE_DIR}/cmake/base.cmake")
IF(${CMAKE_VERSION} VERSION_LESS "3.14.0")
MESSAGE(FATAL_ERROR "\nPlease run the following command first:\ngit submodule update --init\n")
ELSE()
if(NOT EXISTS "${CMAKE_SOURCE_DIR}/cmake/base.cmake")
if(${CMAKE_VERSION} VERSION_LESS "3.14.0")
message(
FATAL_ERROR
"\nPlease run the following command first:\ngit submodule update --init\n"
)
else()
include(FetchContent)
FetchContent_Declare("jrl-cmakemodules"
FetchContent_Declare(
"jrl-cmakemodules"
GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
FetchContent_MakeAvailable("jrl-cmakemodules")
FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
ENDIF()
ENDIF()
endif()
endif()
# JRL-cmakemodule setup
include("${JRL_CMAKE_MODULES}/base.cmake")
include("${JRL_CMAKE_MODULES}/boost.cmake")
# Project definition
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
compute_project_args(PROJECT_ARGS LANGUAGES CXX)
project(${PROJECT_NAME} ${PROJECT_ARGS})
ADD_COMPILE_OPTIONS(-Wno-error)
add_compile_options(-Wno-error)
# Project dependencies
if(BUILD_PYTHON_INTERFACE)
ADD_PROJECT_DEPENDENCY(eigenpy 2.7.10 REQUIRED)
add_project_dependency(eigenpy 2.7.10 REQUIRED)
string(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
set(${PY_NAME}_INSTALL_DIR ${PYTHON_SITELIB}/${PY_NAME})
endif()
ADD_PROJECT_DEPENDENCY(ndcurves REQUIRED)
ADD_PROJECT_DEPENDENCY(crocoddyl REQUIRED)
ADD_PROJECT_DEPENDENCY(yaml-cpp REQUIRED)
add_project_dependency(ndcurves REQUIRED)
add_project_dependency(crocoddyl REQUIRED)
add_project_dependency(yaml-cpp REQUIRED)
# Main Library
set(${PROJECT_NAME}_HEADERS
include/${PROJECT_NAME}/flexibility_compensation.hpp
include/${PROJECT_NAME}/python.hpp
include/${PROJECT_NAME}/fwd.hpp
include/${PROJECT_NAME}/crocomplements/residual-com-velocity.hpp
include/${PROJECT_NAME}/crocomplements/residual-cop.hpp
include/${PROJECT_NAME}/crocomplements/residual-feet-collision.hpp
include/${PROJECT_NAME}/crocomplements/residual-vel-collision.hpp
include/${PROJECT_NAME}/crocomplements/residual-fly-high.hpp
include/${PROJECT_NAME}/crocomplements/activation-quad-ref.hpp
include/${PROJECT_NAME}/crocomplements/lowpassfilter/state.hpp
include/${PROJECT_NAME}/crocomplements/lowpassfilter/state.hxx
include/${PROJECT_NAME}/crocomplements/lowpassfilter/action.hpp
include/${PROJECT_NAME}/crocomplements/lowpassfilter/action.hxx
include/${PROJECT_NAME}/crocomplements/contact/contact3d.hpp
include/${PROJECT_NAME}/crocomplements/contact/contact1d.hpp
include/${PROJECT_NAME}/crocomplements/contact/multiple-contacts.hpp
include/${PROJECT_NAME}/crocomplements/contact/contact-fwddyn.hpp
include/${PROJECT_NAME}/crocomplements/contact/contact-force.hpp
include/${PROJECT_NAME}/crocomplements/residual-com-velocity.hxx
include/${PROJECT_NAME}/crocomplements/residual-cop.hxx
include/${PROJECT_NAME}/crocomplements/residual-feet-collision.hxx
include/${PROJECT_NAME}/crocomplements/residual-vel-collision.hxx
include/${PROJECT_NAME}/crocomplements/contact/contact3d.hxx
include/${PROJECT_NAME}/crocomplements/contact/contact1d.hxx
include/${PROJECT_NAME}/crocomplements/contact/multiple-contacts.hxx
include/${PROJECT_NAME}/crocomplements/contact/contact-fwddyn.hxx
include/${PROJECT_NAME}/crocomplements/contact/contact-force.hxx
include/${PROJECT_NAME}/crocomplements/residual-fly-high.hxx
include/${PROJECT_NAME}/walk-without-think/ocp.hpp
include/${PROJECT_NAME}/walk-without-think/mpc.hpp
include/${PROJECT_NAME}/walk-without-think/mpc.hxx
include/${PROJECT_NAME}/walk-with-traj/designer.hpp
include/${PROJECT_NAME}/walk-with-traj/model_factory.hpp
include/${PROJECT_NAME}/walk-with-traj/horizon_manager.hpp
# include/${PROJECT_NAME}/walk-with-traj/ocp.hpp
include/${PROJECT_NAME}/walk-with-traj/wbc.hpp
include/${PROJECT_NAME}/walk-with-traj/foot_trajectory.hpp
)
include/${PROJECT_NAME}/flexibility_compensation.hpp
include/${PROJECT_NAME}/python.hpp
include/${PROJECT_NAME}/fwd.hpp
include/${PROJECT_NAME}/crocomplements/residual-com-velocity.hpp
include/${PROJECT_NAME}/crocomplements/residual-cop.hpp
include/${PROJECT_NAME}/crocomplements/residual-feet-collision.hpp
include/${PROJECT_NAME}/crocomplements/residual-vel-collision.hpp
include/${PROJECT_NAME}/crocomplements/residual-fly-high.hpp
include/${PROJECT_NAME}/crocomplements/activation-quad-ref.hpp
include/${PROJECT_NAME}/crocomplements/lowpassfilter/state.hpp
include/${PROJECT_NAME}/crocomplements/lowpassfilter/state.hxx
include/${PROJECT_NAME}/crocomplements/lowpassfilter/action.hpp
include/${PROJECT_NAME}/crocomplements/lowpassfilter/action.hxx
include/${PROJECT_NAME}/crocomplements/contact/contact3d.hpp
include/${PROJECT_NAME}/crocomplements/contact/contact1d.hpp
include/${PROJECT_NAME}/crocomplements/contact/multiple-contacts.hpp
include/${PROJECT_NAME}/crocomplements/contact/contact-fwddyn.hpp
include/${PROJECT_NAME}/crocomplements/contact/contact-force.hpp
include/${PROJECT_NAME}/crocomplements/residual-com-velocity.hxx
include/${PROJECT_NAME}/crocomplements/residual-cop.hxx
include/${PROJECT_NAME}/crocomplements/residual-feet-collision.hxx
include/${PROJECT_NAME}/crocomplements/residual-vel-collision.hxx
include/${PROJECT_NAME}/crocomplements/contact/contact3d.hxx
include/${PROJECT_NAME}/crocomplements/contact/contact1d.hxx
include/${PROJECT_NAME}/crocomplements/contact/multiple-contacts.hxx
include/${PROJECT_NAME}/crocomplements/contact/contact-fwddyn.hxx
include/${PROJECT_NAME}/crocomplements/contact/contact-force.hxx
include/${PROJECT_NAME}/crocomplements/residual-fly-high.hxx
include/${PROJECT_NAME}/walk-without-think/ocp.hpp
include/${PROJECT_NAME}/walk-without-think/mpc.hpp
include/${PROJECT_NAME}/walk-without-think/mpc.hxx
include/${PROJECT_NAME}/walk-with-traj/designer.hpp
include/${PROJECT_NAME}/walk-with-traj/model_factory.hpp
include/${PROJECT_NAME}/walk-with-traj/horizon_manager.hpp
# include/${PROJECT_NAME}/walk-with-traj/ocp.hpp
include/${PROJECT_NAME}/walk-with-traj/wbc.hpp
include/${PROJECT_NAME}/walk-with-traj/foot_trajectory.hpp)
set(${PROJECT_NAME}_SOURCES
src/walk-with-traj/designer.cpp
src/walk-with-traj/model_factory.cpp
src/walk-with-traj/horizon_manager.cpp
# src/walk-with-traj/ocp.cpp
src/walk-with-traj/wbc.cpp
src/walk-with-traj/foot_trajectory.cpp
src/flexibility_compensation.cpp
src/walk-without-think/ocp.cpp
src/walk-without-think/ocp-running-models.cpp
src/walk-without-think/ocp-terminal-model.cpp
src/walk-without-think/ocp-params.cpp
src/walk-without-think/ocp-robot.cpp
src/walk-without-think/ocp-ref-forces.cpp
src/walk-without-think/mpc-params.cpp
)
add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
src/walk-with-traj/designer.cpp
src/walk-with-traj/model_factory.cpp
src/walk-with-traj/horizon_manager.cpp
# src/walk-with-traj/ocp.cpp
src/walk-with-traj/wbc.cpp
src/walk-with-traj/foot_trajectory.cpp
src/flexibility_compensation.cpp
src/walk-without-think/ocp.cpp
src/walk-without-think/ocp-running-models.cpp
src/walk-without-think/ocp-terminal-model.cpp
src/walk-without-think/ocp-params.cpp
src/walk-without-think/ocp-robot.cpp
src/walk-without-think/ocp-ref-forces.cpp
src/walk-without-think/mpc-params.cpp)
add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
${${PROJECT_NAME}_HEADERS})
target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
target_link_libraries(${PROJECT_NAME} PUBLIC crocoddyl::crocoddyl ndcurves::ndcurves yaml-cpp)
target_link_libraries(${PROJECT_NAME} PUBLIC crocoddyl::crocoddyl
ndcurves::ndcurves yaml-cpp)
set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX)
if(SUFFIX_SO_VERSION)
......@@ -119,16 +123,23 @@ endif()
# Python Bindings
if(BUILD_PYTHON_INTERFACE)
if(BUILD_PY2CPP_INTERFACE)
add_library(${PROJECT_NAME}_py2cpp SHARED src/py2cpp.cpp include/${PROJECT_NAME}/py2cpp.hpp)
add_library(${PROJECT_NAME}_py2cpp SHARED
src/py2cpp.cpp include/${PROJECT_NAME}/py2cpp.hpp)
if(SUFFIX_SO_VERSION)
set_target_properties(${PROJECT_NAME}_py2cpp PROPERTIES SOVERSION ${PROJECT_VERSION})
set_target_properties(${PROJECT_NAME}_py2cpp
PROPERTIES SOVERSION ${PROJECT_VERSION})
endif()
install(FILES include/${PROJECT_NAME}/py2cpp.hpp DESTINATION include/${PROJECT_NAME})
install(TARGETS ${PROJECT_NAME}_py2cpp EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
install(FILES include/${PROJECT_NAME}/py2cpp.hpp
DESTINATION include/${PROJECT_NAME})
install(
TARGETS ${PROJECT_NAME}_py2cpp
EXPORT ${TARGETS_EXPORT_NAME}
DESTINATION lib)
target_link_libraries(${PROJECT_NAME}_py2cpp PUBLIC crocoddyl::crocoddyl)
target_link_libraries(${PROJECT_NAME}_py2cpp PRIVATE ${PYTHON_LIBRARIES})
target_include_directories(${PROJECT_NAME}_py2cpp PRIVATE ${PYTHON_INCLUDE_DIRS})
TARGET_LINK_BOOST_PYTHON(${PROJECT_NAME}_py2cpp PRIVATE)
target_include_directories(${PROJECT_NAME}_py2cpp
PRIVATE ${PYTHON_INCLUDE_DIRS})
target_link_boost_python(${PROJECT_NAME}_py2cpp PRIVATE)
endif()
add_subdirectory(python)
......@@ -144,5 +155,8 @@ endif()
add_subdirectory(benchmark)
# Installation
install(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
install(
TARGETS ${PROJECT_NAME}
EXPORT ${TARGETS_EXPORT_NAME}
DESTINATION lib)
install(FILES package.xml DESTINATION share/${PROJECT_NAME})
SET(${PROJECT_NAME}_BENCHMARK
bench-mpc-walk
)
set(${PROJECT_NAME}_BENCHMARK bench-mpc-walk)
FOREACH(BENCHMARK_NAME ${${PROJECT_NAME}_BENCHMARK})
ADD_EXECUTABLE(${BENCHMARK_NAME} ${BENCHMARK_NAME}.cpp)
target_link_libraries(${BENCHMARK_NAME} PUBLIC ${PROJECT_NAME} crocoddyl::crocoddyl)
ENDFOREACH(BENCHMARK_NAME ${${PROJECT_NAME}_BENCHMARK})
foreach(BENCHMARK_NAME ${${PROJECT_NAME}_BENCHMARK})
add_executable(${BENCHMARK_NAME} ${BENCHMARK_NAME}.cpp)
target_link_libraries(${BENCHMARK_NAME} PUBLIC ${PROJECT_NAME}
crocoddyl::crocoddyl)
endforeach(BENCHMARK_NAME ${${PROJECT_NAME}_BENCHMARK})
if(BUILD_PY2CPP_INTERFACE)
target_compile_definitions(bench-mpc-walk PRIVATE PROJECT_SOURCE_DIR="${PROJECT_SOURCE_DIR}")
target_compile_definitions(bench-mpc-walk
PRIVATE PROJECT_SOURCE_DIR="${PROJECT_SOURCE_DIR}")
target_link_libraries(bench-mpc-walk PUBLIC ${PROJECT_NAME}_py2cpp)
endif()
set(${PY_NAME}_SOURCES
main.cpp
std-containers.cpp
flexibility_compensation.cpp
crocomplements/residual-com-velocity.cpp
crocomplements/residual-vel-collision.cpp
crocomplements/residual-cop.cpp
crocomplements/residual-center-of-friction.cpp
crocomplements/residual-feet-collision.cpp
crocomplements/residual-fly-high.cpp
crocomplements/activation-quad-ref.cpp
crocomplements/lowpassfilter/action.cpp
crocomplements/lowpassfilter/state.cpp
crocomplements/contact/contact3d.cpp
crocomplements/contact/contact1d.cpp
crocomplements/contact/multiple-contacts.cpp
crocomplements/contact/contact-fwddyn.cpp
crocomplements/contact/contact-force.cpp
walk-with-traj/designer.cpp
walk-with-traj/horizon_manager.cpp
walk-with-traj/model_factory.cpp
walk-with-traj/wbc.cpp
walk-without-think/ocp.cpp
walk-without-think/mpc.cpp
)
main.cpp
std-containers.cpp
flexibility_compensation.cpp
crocomplements/residual-com-velocity.cpp
crocomplements/residual-vel-collision.cpp
crocomplements/residual-cop.cpp
crocomplements/residual-center-of-friction.cpp
crocomplements/residual-feet-collision.cpp
crocomplements/residual-fly-high.cpp
crocomplements/activation-quad-ref.cpp
crocomplements/lowpassfilter/action.cpp
crocomplements/lowpassfilter/state.cpp
crocomplements/contact/contact3d.cpp
crocomplements/contact/contact1d.cpp
crocomplements/contact/multiple-contacts.cpp
crocomplements/contact/contact-fwddyn.cpp
crocomplements/contact/contact-force.cpp
walk-with-traj/designer.cpp
walk-with-traj/horizon_manager.cpp
walk-with-traj/model_factory.cpp
walk-with-traj/wbc.cpp
walk-without-think/ocp.cpp
walk-without-think/mpc.cpp)
add_library(${PY_NAME}_pywrap SHARED ${${PY_NAME}_SOURCES})
target_link_libraries(${PY_NAME}_pywrap PUBLIC ${PROJECT_NAME} eigenpy::eigenpy)
target_include_directories(${PY_NAME}_pywrap SYSTEM PRIVATE ${PYTHON_INCLUDE_DIR})
set_target_properties(${PY_NAME}_pywrap PROPERTIES
INSTALL_RPATH "\$ORIGIN/../../.."
LIBRARY_OUTPUT_DIRECTORY ${PY_NAME}
PREFIX ""
SUFFIX ${PYTHON_EXT_SUFFIX})
TARGET_LINK_BOOST_PYTHON(${PY_NAME}_pywrap PRIVATE)
target_include_directories(${PY_NAME}_pywrap SYSTEM
PRIVATE ${PYTHON_INCLUDE_DIR})
set_target_properties(
${PY_NAME}_pywrap
PROPERTIES INSTALL_RPATH "\$ORIGIN/../../.."
LIBRARY_OUTPUT_DIRECTORY ${PY_NAME}
PREFIX ""
SUFFIX ${PYTHON_EXT_SUFFIX})
target_link_boost_python(${PY_NAME}_pywrap PRIVATE)
install(TARGETS ${PY_NAME}_pywrap DESTINATION ${${PY_NAME}_INSTALL_DIR})
set(${PY_NAME}_PYTHON
__init__.py
pinbullet.py
viewer_multiple.py
talos_collections.py
repr_ocp.py
logs.py
# talos_low.py
)
__init__.py pinbullet.py viewer_multiple.py talos_collections.py
repr_ocp.py logs.py
# talos_low.py
)
foreach(python ${${PY_NAME}_PYTHON})
PYTHON_INSTALL_ON_SITE(${PY_NAME} ${python})
python_install_on_site(${PY_NAME} ${python})
endforeach()
set(${PY_WALK_NAME}_PYTHON
__init__.py
ocp.py
weight_share.py
robot_wrapper.py
config_mpc.py
miscdisp.py
params.py
yaml_params.py
plotter.py
save_traj.py
)
__init__.py
ocp.py
weight_share.py
robot_wrapper.py
config_mpc.py
miscdisp.py
params.py
yaml_params.py
plotter.py
save_traj.py)
foreach(python ${${PY_WALK_NAME}_PYTHON})
PYTHON_INSTALL_ON_SITE(${PY_NAME}/walk_without_think ${python})
python_install_on_site(${PY_NAME}/walk_without_think ${python})
endforeach()
set(${PROJECT_NAME}_FACTORY_TEST
factory/activation.hpp
factory/cost.hpp
factory/pinocchio_model.hpp
factory/random_generator.hpp
factory/state.hpp
factory/statelpf.hpp
factory/lpf.hpp
factory/diff-action.hpp
factory/actuation.hpp
factory/contact3d.hpp
factory/contact1d.hpp
factory/activation.cpp
factory/cost.cpp
factory/pinocchio_model.cpp
factory/state.cpp
factory/statelpf.cpp
factory/lpf.cpp
factory/diff-action.cpp
factory/actuation.cpp
factory/contact3d.cpp
factory/contact1d.cpp
)
factory/activation.hpp
factory/cost.hpp
factory/pinocchio_model.hpp
factory/random_generator.hpp
factory/state.hpp
factory/statelpf.hpp
factory/lpf.hpp
factory/diff-action.hpp
factory/actuation.hpp
factory/contact3d.hpp
factory/contact1d.hpp
factory/activation.cpp
factory/cost.cpp
factory/pinocchio_model.cpp
factory/state.cpp
factory/statelpf.cpp
factory/lpf.cpp
factory/diff-action.cpp
factory/actuation.cpp
factory/contact3d.cpp
factory/contact1d.cpp)
add_library(${PROJECT_NAME}_unittest SHARED ${${PROJECT_NAME}_FACTORY_TEST})
target_link_libraries(${PROJECT_NAME}_unittest PUBLIC ${PROJECT_NAME} crocoddyl::crocoddyl)
target_link_libraries(${PROJECT_NAME}_unittest PUBLIC ${PROJECT_NAME}
crocoddyl::crocoddyl)
ADD_UNIT_TEST(test_costs test_costs.cpp)
add_unit_test(test_costs test_costs.cpp)
target_link_libraries(test_costs PUBLIC ${PROJECT_NAME}_unittest yaml-cpp)
ADD_UNIT_TEST(test_states test_states.cpp)
add_unit_test(test_states test_states.cpp)
target_link_libraries(test_states PUBLIC ${PROJECT_NAME}_unittest)
ADD_UNIT_TEST(test_stateslpf test_stateslpf.cpp)
add_unit_test(test_stateslpf test_stateslpf.cpp)
target_link_libraries(test_stateslpf PUBLIC ${PROJECT_NAME}_unittest)
ADD_UNIT_TEST(test_lpf test_lpf.cpp)
add_unit_test(test_lpf test_lpf.cpp)
target_link_libraries(test_lpf PUBLIC ${PROJECT_NAME}_unittest)
ADD_UNIT_TEST(test_contact3d test_contact3d.cpp)
add_unit_test(test_contact3d test_contact3d.cpp)
target_link_libraries(test_contact3d PUBLIC ${PROJECT_NAME}_unittest)
ADD_UNIT_TEST(test_contact1d test_contact1d.cpp)
add_unit_test(test_contact1d test_contact1d.cpp)
target_link_libraries(test_contact1d PUBLIC ${PROJECT_NAME}_unittest)
ADD_UNIT_TEST(test_diff_actions test_diff_actions.cpp)
add_unit_test(test_diff_actions test_diff_actions.cpp)
target_link_libraries(test_diff_actions PUBLIC ${PROJECT_NAME}_unittest)
ADD_UNIT_TEST(test_walk_params test_walk_params.cpp)
add_unit_test(test_walk_params test_walk_params.cpp)
target_link_libraries(test_walk_params PUBLIC ${PROJECT_NAME}_unittest)
target_compile_definitions(test_walk_params PRIVATE PROJECT_SOURCE_DIR="${PROJECT_SOURCE_DIR}")
target_compile_definitions(test_walk_params
PRIVATE PROJECT_SOURCE_DIR="${PROJECT_SOURCE_DIR}")
if(BUILD_PYTHON_INTERFACE)
if(BUILD_PY2CPP_INTERFACE)
ADD_UNIT_TEST(test_init_shooting_problem test_init_shooting_problem.cpp)
target_link_libraries(test_init_shooting_problem PUBLIC ${PROJECT_NAME}_py2cpp)
target_compile_definitions(test_init_shooting_problem PRIVATE PROJECT_SOURCE_DIR="${PROJECT_SOURCE_DIR}")
#set_tests_properties(test_init_shooting_problem PROPERTIES ENVIRONMENT
# "PYTHONPATH=${PROJECT_SOURCE_DIR}/mpc:${PROJECT_BINARY_DIR}/python")
add_unit_test(test_init_shooting_problem test_init_shooting_problem.cpp)
target_link_libraries(test_init_shooting_problem
PUBLIC ${PROJECT_NAME}_py2cpp)
target_compile_definitions(
test_init_shooting_problem
PRIVATE PROJECT_SOURCE_DIR="${PROJECT_SOURCE_DIR}")
# set_tests_properties(test_init_shooting_problem PROPERTIES ENVIRONMENT
# "PYTHONPATH=${PROJECT_SOURCE_DIR}/mpc:${PROJECT_BINARY_DIR}/python")
endif()
add_subdirectory(python)
......
#ADD_PYTHON_UNIT_TEST("py-walk-with-traj" "tests/python/test_walk_with_traj.py" "python")
ADD_PYTHON_UNIT_TEST("py-vel-collision" "tests/python/test_vel_collision.py" "python")
ADD_PYTHON_UNIT_TEST("py-cop" "tests/python/test_cop.py" "python")
ADD_PYTHON_UNIT_TEST("py-fly-high" "tests/python/test_fly_high.py" "python")
ADD_PYTHON_UNIT_TEST("py-test-collision" "tests/python/test_feet_collision.py" "python")
ADD_PYTHON_UNIT_TEST("py-test-mpc-walk" "tests/python/test_mpc_walk.py" "python")
ADD_PYTHON_UNIT_TEST("py-walk" "tests/python/test_walk.py" "python")
ADD_PYTHON_UNIT_TEST("py-mpc-walk-complex" "tests/python/test_mpc_walk__complex.py" "python")
ADD_PYTHON_UNIT_TEST("py-ocpcpp" "tests/python/test_ocpcpp.py" "python")
ADD_PYTHON_UNIT_TEST("py-yaml" "tests/python/test_yaml.py" "python")
ADD_PYTHON_UNIT_TEST("py-ref-force" "tests/python/test_ref_force.py" "python")
# ADD_PYTHON_UNIT_TEST("py-walk-with-traj" "tests/python/test_walk_with_traj.py"
# "python")
add_python_unit_test("py-vel-collision" "tests/python/test_vel_collision.py"
"python")
add_python_unit_test("py-cop" "tests/python/test_cop.py" "python")
add_python_unit_test("py-fly-high" "tests/python/test_fly_high.py" "python")
add_python_unit_test("py-test-collision" "tests/python/test_feet_collision.py"
"python")
add_python_unit_test("py-test-mpc-walk" "tests/python/test_mpc_walk.py"
"python")
add_python_unit_test("py-walk" "tests/python/test_walk.py" "python")
add_python_unit_test("py-mpc-walk-complex"
"tests/python/test_mpc_walk__complex.py" "python")
add_python_unit_test("py-ocpcpp" "tests/python/test_ocpcpp.py" "python")
add_python_unit_test("py-yaml" "tests/python/test_yaml.py" "python")
add_python_unit_test("py-ref-force" "tests/python/test_ref_force.py" "python")
string(TOLOWER "${CMAKE_BUILD_TYPE}" CMAKE_BUILD_TYPE_LOWER)
# Deactivate temporarily this test ... maybe it is not very interesting.
#if (CMAKE_BUILD_TYPE_LOWER STREQUAL "release")
# ADD_PYTHON_UNIT_TEST("py-mpccpp" "tests/python/test_mpccpp.py" "python")
#endif()
# Deactivate temporarily this test ... maybe it is not very interesting. if
# (CMAKE_BUILD_TYPE_LOWER STREQUAL "release") ADD_PYTHON_UNIT_TEST("py-mpccpp"
# "tests/python/test_mpccpp.py" "python") endif()
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