Commit 9a1c407e authored by Justin Carpentier's avatar Justin Carpentier

models: call romeo_description from models/others

parent dae1023f
......@@ -75,6 +75,8 @@ MACRO(TAG_LIBRARY_VERSION target)
SET_TARGET_PROPERTIES(${target} PROPERTIES SOVERSION ${PROJECT_VERSION})
ENDMACRO(TAG_LIBRARY_VERSION)
SET(PINOCCHIO_MODEL_DIR "${PROJECT_SOURCE_DIR}/models")
# ----------------------------------------------------
# --- DEPENDENCIES -----------------------------------
# ----------------------------------------------------
......
......@@ -36,7 +36,7 @@ int main(int argc, const char ** argv)
pinocchio::Model model;
std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
if(argc>1) filename = argv[1];
if( filename == "HS")
pinocchio::buildModels::humanoidRandom(model,true);
......
......@@ -126,7 +126,7 @@ int main(int argc, const char ** argv)
Model model;
std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
if(argc>1) filename = argv[1];
bool with_ff = true;
......
......@@ -30,9 +30,9 @@ int main()
std::cout << "(the time score in debug mode is not relevant) " << std::endl;
#endif
std::string romeo_filename = PINOCCHIO_SOURCE_DIR"/models/romeo/romeo_description/urdf/romeo.urdf";
std::string romeo_filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
std::vector < std::string > package_dirs;
std::string romeo_meshDir = PINOCCHIO_SOURCE_DIR"/models/romeo";
std::string romeo_meshDir = PINOCCHIO_MODEL_DIR + std::string("/others");
package_dirs.push_back(romeo_meshDir);
pinocchio::Model model;
......
......@@ -32,7 +32,7 @@ int main(int argc, const char ** argv)
pinocchio::Model model;
std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
if(argc>1) filename = argv[1];
bool with_ff = true;
......
......@@ -180,7 +180,7 @@ int main(int argc, const char ** argv)
pinocchio::Model model;
std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
if(argc>1) filename = argv[1];
bool with_ff = true;
......
......@@ -10,6 +10,8 @@ SET(${PROJECT_NAME}_EXAMPLES
#overview-urdf
)
ADD_DEFINITIONS(-DPINOCCHIO_MODEL_DIR="${PINOCCHIO_MODEL_DIR}")
IF(EIGEN3_VERSION VERSION_GREATER 3.2.90)
SET(${PROJECT_NAME}_EXAMPLES
${${PROJECT_NAME}_EXAMPLES}
......
......@@ -64,26 +64,26 @@ ADD_PINOCCHIO_UNIT_TEST(kinematics)
IF(URDFDOM_FOUND)
ADD_PINOCCHIO_UNIT_TEST(urdf urdfdom)
ADD_TEST_CFLAGS(urdf-test '-DPINOCCHIO_SOURCE_DIR=\\\"${${PROJECT_NAME}_SOURCE_DIR}\\\"')
ADD_TEST_CFLAGS(urdf-test '-DPINOCCHIO_MODEL_DIR=\\\"${PINOCCHIO_MODEL_DIR}\\\"')
ADD_PINOCCHIO_UNIT_TEST(value urdfdom)
ADD_TEST_CFLAGS(value-test '-DPINOCCHIO_SOURCE_DIR=\\\"${${PROJECT_NAME}_SOURCE_DIR}\\\"')
ADD_TEST_CFLAGS(value-test '-DPINOCCHIO_MODEL_DIR=\\\"${PINOCCHIO_MODEL_DIR}\\\"')
IF(HPP_FCL_FOUND)
ADD_PINOCCHIO_UNIT_TEST(geom urdfdom)
ADD_TEST_CFLAGS(geom-test '-DPINOCCHIO_SOURCE_DIR=\\\"${${PROJECT_NAME}_SOURCE_DIR}\\\"')
ADD_TEST_CFLAGS(geom-test '-DPINOCCHIO_MODEL_DIR=\\\"${PINOCCHIO_MODEL_DIR}\\\"')
ADD_PINOCCHIO_UNIT_TEST(srdf urdfdom)
ADD_TEST_CFLAGS(srdf-test '-DPINOCCHIO_SOURCE_DIR=\\\"${${PROJECT_NAME}_SOURCE_DIR}\\\"')
ADD_TEST_CFLAGS(srdf-test '-DPINOCCHIO_MODEL_DIR=\\\"${PINOCCHIO_MODEL_DIR}\\\"')
ENDIF(HPP_FCL_FOUND)
ENDIF(URDFDOM_FOUND)
IF(LUA5_FOUND)
ADD_PINOCCHIO_UNIT_TEST(lua ${LUA5_PACKAGE})
ADD_TEST_CFLAGS(lua-test '-DPINOCCHIO_SOURCE_DIR=\\\"${${PROJECT_NAME}_SOURCE_DIR}\\\"')
ADD_TEST_CFLAGS(lua-test '-DPINOCCHIO_MODEL_DIR=\\\"${PINOCCHIO_MODEL_DIR}\\\"')
ENDIF(LUA5_FOUND)
IF(BUILD_PYTHON_INTERFACE)
ADD_PINOCCHIO_UNIT_TEST(python_parser eigenpy)
ADD_TEST_CFLAGS(python_parser-test '-DPINOCCHIO_SOURCE_DIR=\\\"${${PROJECT_NAME}_SOURCE_DIR}\\\"')
ADD_TEST_CFLAGS(python_parser-test '-DPINOCCHIO_MODEL_DIR=\\\"${PINOCCHIO_MODEL_DIR}\\\"')
TARGET_LINK_LIBRARIES(python_parser-test ${PYWRAP})
TARGET_LINK_LIBRARIES(python_parser-test ${PYTHON_LIBRARIES})
......
......@@ -125,9 +125,9 @@ BOOST_AUTO_TEST_CASE ( loading_model )
typedef pinocchio::Data Data;
typedef pinocchio::GeometryData GeometryData;
std::string filename = PINOCCHIO_SOURCE_DIR"/models/romeo/romeo_description/urdf/romeo_small.urdf";
std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
std::vector < std::string > packageDirs;
std::string meshDir = PINOCCHIO_SOURCE_DIR"/models/romeo/";
std::string meshDir = PINOCCHIO_MODEL_DIR + std::string("/others/");
packageDirs.push_back(meshDir);
Model model;
......@@ -160,11 +160,11 @@ BOOST_AUTO_TEST_CASE ( test_collisions )
typedef pinocchio::Data Data;
typedef pinocchio::GeometryData GeometryData;
const std::string filename = PINOCCHIO_SOURCE_DIR"/models/romeo/romeo_description/urdf/romeo_small.urdf";
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
std::vector < std::string > packageDirs;
const std::string meshDir = PINOCCHIO_SOURCE_DIR"/models/romeo/";
const std::string meshDir = PINOCCHIO_MODEL_DIR + std::string("/others/");
packageDirs.push_back(meshDir);
const std::string srdf_filename = PINOCCHIO_SOURCE_DIR"/models/romeo/romeo_description/srdf/romeo.srdf";
const std::string srdf_filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/srdf/romeo.srdf");
Model model;
pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(),model);
......@@ -198,11 +198,11 @@ BOOST_AUTO_TEST_CASE ( test_distances )
typedef pinocchio::Data Data;
typedef pinocchio::GeometryData GeometryData;
const std::string filename = PINOCCHIO_SOURCE_DIR"/models/romeo/romeo_description/urdf/romeo_small.urdf";
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
std::vector < std::string > packageDirs;
const std::string meshDir = PINOCCHIO_SOURCE_DIR"/models/romeo/";
const std::string meshDir = PINOCCHIO_MODEL_DIR + std::string("/others/");
packageDirs.push_back(meshDir);
const std::string srdf_filename = PINOCCHIO_SOURCE_DIR"/models/romeo/romeo_description/srdf/romeo.srdf";
const std::string srdf_filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/srdf/romeo.srdf");
Model model;
pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(),model);
......@@ -234,9 +234,9 @@ BOOST_AUTO_TEST_CASE ( test_append_geom_models )
typedef pinocchio::Model Model;
typedef pinocchio::GeometryModel GeometryModel;
const std::string filename = PINOCCHIO_SOURCE_DIR"/models/romeo/romeo_description/urdf/romeo_small.urdf";
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
std::vector < std::string > packageDirs;
const std::string meshDir = PINOCCHIO_SOURCE_DIR"/models/romeo/";
const std::string meshDir = PINOCCHIO_MODEL_DIR + std::string("/others/");
packageDirs.push_back(meshDir);
Model model;
......@@ -264,8 +264,8 @@ BOOST_AUTO_TEST_CASE (radius)
{
std::vector < std::string > packageDirs;
std::string filename = PINOCCHIO_SOURCE_DIR"/models/romeo/romeo_description/urdf/romeo_small.urdf";
std::string meshDir = PINOCCHIO_SOURCE_DIR"/models/romeo/";
std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
std::string meshDir = PINOCCHIO_MODEL_DIR + std::string("/others/");
packageDirs.push_back(meshDir);
pinocchio::Model model;
......
......@@ -14,7 +14,7 @@ BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
BOOST_AUTO_TEST_CASE ( buildModel )
{
std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_model.py";
std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_model.py");
#ifndef NDEBUG
std::cout << "Parse filename \"" << filename << "\"" << std::endl;
......
......@@ -19,9 +19,9 @@ BOOST_AUTO_TEST_CASE(test_removeCollisionPairs)
{
using namespace pinocchio::urdf;
using namespace pinocchio::srdf;
const string model_filename = PINOCCHIO_SOURCE_DIR"/models/romeo/romeo_description/urdf/romeo_small.urdf";
const string model_dir = PINOCCHIO_SOURCE_DIR"/models/romeo";
const string srdf_filename = PINOCCHIO_SOURCE_DIR"/models/romeo/romeo_description/srdf/romeo.srdf";
const string model_filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
const string model_dir = PINOCCHIO_MODEL_DIR + std::string("/others");
const string srdf_filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/srdf/romeo.srdf");
Model model;
buildModel(model_filename, model);
......@@ -44,8 +44,8 @@ BOOST_AUTO_TEST_CASE(readReferenceConfig)
{
using namespace pinocchio::urdf;
using namespace pinocchio::srdf;
const string model_filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
const string srdf_filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.srdf";
const string model_filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
const string srdf_filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.srdf");
Model model;
buildModel(model_filename, model);
......@@ -128,8 +128,8 @@ BOOST_AUTO_TEST_CASE(readRotorParams)
{
using namespace pinocchio::urdf;
using namespace pinocchio::srdf;
const string model_filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
const string srdf_filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.srdf";
const string model_filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
const string srdf_filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.srdf");
Model model;
buildModel(model_filename, model);
......
......@@ -18,8 +18,8 @@ BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
BOOST_AUTO_TEST_CASE ( build_model )
{
const std::string filename = PINOCCHIO_SOURCE_DIR"/models/romeo/romeo_description/urdf/romeo_small.urdf";
const std::string dir = PINOCCHIO_SOURCE_DIR"/models/romeo";
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
const std::string dir = PINOCCHIO_MODEL_DIR + std::string("/others");
pinocchio::Model model;
pinocchio::urdf::buildModel(filename, model);
......@@ -31,7 +31,7 @@ BOOST_AUTO_TEST_CASE ( build_model )
BOOST_AUTO_TEST_CASE ( build_model_simple_humanoid )
{
const std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
pinocchio::Model model;
pinocchio::urdf::buildModel(filename, model);
......@@ -46,7 +46,7 @@ BOOST_AUTO_TEST_CASE ( build_model_simple_humanoid )
BOOST_AUTO_TEST_CASE ( build_model_from_XML )
{
const std::string filename = PINOCCHIO_SOURCE_DIR"/models/romeo/romeo_description/urdf/romeo_small.urdf";
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
// Read file as XML
std::ifstream file;
......@@ -62,7 +62,7 @@ BOOST_AUTO_TEST_CASE ( build_model_from_XML )
BOOST_AUTO_TEST_CASE ( build_model_from_UDRFTree )
{
const std::string filename = PINOCCHIO_SOURCE_DIR"/models/romeo/romeo_description/urdf/romeo_small.urdf";
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDFFile(filename);
......@@ -74,8 +74,8 @@ BOOST_AUTO_TEST_CASE ( build_model_from_UDRFTree )
BOOST_AUTO_TEST_CASE ( build_model_with_joint )
{
const std::string filename = PINOCCHIO_SOURCE_DIR"/models/romeo/romeo_description/urdf/romeo_small.urdf";
const std::string dir = PINOCCHIO_SOURCE_DIR"/models/romeo";
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
const std::string dir = PINOCCHIO_MODEL_DIR + std::string("/others");
pinocchio::Model model;
pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model);
......@@ -87,7 +87,7 @@ BOOST_AUTO_TEST_CASE ( build_model_with_joint )
BOOST_AUTO_TEST_CASE ( build_model_with_joint_from_XML )
{
const std::string filename = PINOCCHIO_SOURCE_DIR"/models/romeo/romeo_description/urdf/romeo_small.urdf";
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
// Read file as XML
std::ifstream file;
......@@ -103,7 +103,7 @@ BOOST_AUTO_TEST_CASE ( build_model_with_joint_from_XML )
BOOST_AUTO_TEST_CASE ( build_model_with_joint_from_UDRFTree )
{
const std::string filename = PINOCCHIO_SOURCE_DIR"/models/romeo/romeo_description/urdf/romeo_small.urdf";
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDFFile(filename);
......
......@@ -30,7 +30,7 @@ BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
BOOST_AUTO_TEST_CASE ( test_000 )
{
std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
pinocchio::Model model;
pinocchio::urdf::buildModel(filename,pinocchio::JointModelFreeFlyer(),model);
......@@ -56,7 +56,7 @@ BOOST_AUTO_TEST_CASE ( test_000 )
BOOST_AUTO_TEST_CASE( test_0V0 )
{
std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
pinocchio::Model model;
pinocchio::urdf::buildModel(filename,pinocchio::JointModelFreeFlyer(),model);
......@@ -82,7 +82,7 @@ BOOST_AUTO_TEST_CASE( test_0V0 )
BOOST_AUTO_TEST_CASE( test_0VA )
{
std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
pinocchio::Model model;
pinocchio::urdf::buildModel(filename,pinocchio::JointModelFreeFlyer(),model);
......@@ -106,7 +106,7 @@ BOOST_AUTO_TEST_CASE( test_0VA )
BOOST_AUTO_TEST_CASE( test_Q00 )
{
std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
pinocchio::Model model;
pinocchio::urdf::buildModel(filename,pinocchio::JointModelFreeFlyer(),model);
......@@ -135,7 +135,7 @@ BOOST_AUTO_TEST_CASE( test_Q00 )
BOOST_AUTO_TEST_CASE( test_QVA )
{
std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
std::string filename = PINOCCHIO_MODEL_DIR + std::string("/simple_humanoid.urdf");
pinocchio::Model model;
pinocchio::urdf::buildModel(filename,pinocchio::JointModelFreeFlyer(),model);
......
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