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

CMakeLists.txt

@@ -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)
 

tests/CMakeLists.txt

@@ -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)
 
 #####################

tests/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;
     }
   }