Commit 98015b45 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

[tests/TestNaveau2015] Back on track and uses talos_data repository.

parent c4f486d3
......@@ -31,7 +31,7 @@ ADD_PROJECT_DEPENDENCY(LAPACK REQUIRED)
ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED PKG_CONFIG_REQUIRES pinocchio)
IF(BUILD_TESTING)
ADD_REQUIRED_DEPENDENCY("simple_humanoid_description >= 1.0.1")
ADD_REQUIRED_DEPENDENCY("talos_data >= 1.2.1")
#ADD_OPTIONAL_DEPENDENCY("hrp2_14_description >= 1.0.2")
ENDIF(BUILD_TESTING)
......
......@@ -13,8 +13,8 @@
# received a copy of the GNU Lesser General Public License along with
# jrl-walkgen. If not, see <http://www.gnu.org/licenses/>.
SET(urdfpath ${SIMPLE_HUMANOID_DESCRIPTION_PKGDATAROOTDIR}/simple_humanoid_description/urdf/simple_humanoid.urdf)
SET(srdfpath ${SIMPLE_HUMANOID_DESCRIPTION_PKGDATAROOTDIR}/simple_humanoid_description/srdf/simple_humanoid.srdf)
SET(urdfpath ${TALOS_DATA_PREFIX}/share/talos_data/urdf/talos_reduced_wpg.urdf)
SET(srdfpath ${TALOS_DATA_PREFIX}/share/talos_data/srdf/talos_wpg.srdf)
ADD_LIBRARY(${PROJECT_NAME}-test SHARED
......@@ -188,7 +188,7 @@ ENDMACRO(ADD_JRL_WALKGEN_EXE)
################
# Disabled as the test fail : random results oscillating around mean behaviour
#ADD_JRL_WALKGEN_EXE(TestNaveau2015Online TestNaveau2015.cpp)
ADD_JRL_WALKGEN_EXE(TestNaveau2015Online TestNaveau2015.cpp)
#ADD_JRL_WALKGEN_EXE(TestNaveau2015OnlineSimple TestNaveau2015.cpp)
#####################
......
......@@ -642,29 +642,29 @@ protected:
void chooseTestProfile() {
ODEBUG("ROBOT:" << m_PR->getName() << " Profile: " << m_TestProfile);
switch (m_TestProfile) {
case PROFIL_NAVEAU:
createFullEventsForHRP2();
if (m_PR->getName() == "hrp2_14_reduced")
startHRP2OnLineWalking(*m_PGI);
else if (m_PR->getName() == "talos")
startTalosOnLineWalking(*m_PGI);
else
throw("No valid robot");
break;
case PROFIL_SIMPLE_NAVEAU:
createSimpleEventsForHRP2();
if (m_PR->getName() == "hrp2_14_reduced")
startHRP2OnLineWalking(*m_PGI);
else if (m_PR->getName() == "talos")
startTalosOnLineWalking(*m_PGI);
else
throw("No valid robot");
break;
default:
throw("No correct test profile");
break;
case PROFIL_NAVEAU:
createFullEventsForHRP2();
if (m_PR->getName() == "hrp2_14_reduced")
startHRP2OnLineWalking(*m_PGI);
else if (m_PR->getName() == "talos")
startTalosOnLineWalking(*m_PGI);
else
throw("No valid robot "+m_PR->getName());
break;
case PROFIL_SIMPLE_NAVEAU:
createSimpleEventsForHRP2();
if (m_PR->getName() == "hrp2_14_reduced")
startHRP2OnLineWalking(*m_PGI);
else if (m_PR->getName() == "talos")
startTalosOnLineWalking(*m_PGI);
else
throw("No valid robot "+m_PR->getName());
break;
default:
throw("No correct test profile");
break;
}
}
......
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