test/packaging: test cmake export

unittest/packaging/CMakeLists.txt

+cmake_minimum_required(VERSION 2.6)
+
+project(ExtraLib CXX)
+find_package(pinocchio REQUIRED)
+find_package(PythonInterp REQUIRED)
+find_package(PythonLibs REQUIRED)
+
+set(PINOCCHIO_MODEL_DIR "${PROJECT_SOURCE_DIR}/../../models")
+add_definitions('-DPINOCCHIO_MODEL_DIR=\"${PINOCCHIO_MODEL_DIR}\"')
+
+add_executable(run_rnea run_rnea.cpp)
+target_link_libraries(run_rnea PUBLIC pinocchio::pinocchio)
+
+if(DEFINED PINOCCHIO_WITH_URDF_SUPPORT)
+  add_executable(load_urdf load_urdf.cpp)
+  target_link_libraries(load_urdf PUBLIC pinocchio::pinocchio)
+endif(DEFINED PINOCCHIO_WITH_URDF_SUPPORT)

unittest/packaging/load_urdf.cpp

+#include <pinocchio/parsers/urdf.hpp>
+
+#include <iostream>
+#include <string>
+
+int main(int /*argc*/, char ** /*argv*/)
+{
+  using namespace pinocchio;
+
+  const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
+  Model model;
+  pinocchio::urdf::buildModel(filename, JointModelFreeFlyer(), model);
+
+  std::cout << "model.nq: " << model.nq << std::endl;
+  std::cout << "model.nv: " << model.nv << std::endl;
+
+  return 0;
+}

unittest/packaging/run_rnea.cpp

+#include <pinocchio/parsers/sample-models.hpp>
+#include <pinocchio/algorithm/rnea.hpp>
+#include <pinocchio/algorithm/joint-configuration.hpp>
+
+#include <iostream>
+
+int main(int /*argc*/, char ** /*argv*/)
+{
+  using namespace pinocchio;
+
+  Model model;
+  pinocchio::buildModels::humanoid(model);
+
+  Model::VectorXs q = randomConfiguration(model);
+  Model::VectorXs v = Model::VectorXs::Random(model.nv);
+  Model::VectorXs a = Model::VectorXs::Random(model.nv);
+
+  Data data(model);
+  rnea(model,data,q,v,a);
+
+  return 0;
+}