Unverified Commit f0e89e5b authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub
Browse files

Merge pull request #1077 from jcarpent/devel

Fix multiprecision test
parents 7765909f caf8205a
......@@ -34,7 +34,7 @@ jobs:
export MAKEFLAGS="-j2"
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Debug -DBUILD_WITH_COLLISION_SUPPORT=ON -DPYTHON_EXECUTABLE=$(which python2)
cmake .. -DCMAKE_BUILD_TYPE=Debug -DBUILD_WITH_COLLISION_SUPPORT=ON -DPYTHON_EXECUTABLE=$(which python2) -DBUILD_ADVANCED_TESTING=ON
make
make build_tests
export CTEST_OUTPUT_ON_FAILURE=1
......
......@@ -53,7 +53,7 @@ install:
- pip install --user pyopenssl
- pip install --user numpy
script:
- export CMAKE_ADDITIONAL_OPTIONS="-DCMAKE_BUILD_TYPE=${BUILDTYPE} -DBUILD_WITH_COLLISION_SUPPORT=${BUILD_WITH_COLLISION_SUPPORT}"
- export CMAKE_ADDITIONAL_OPTIONS="-DCMAKE_BUILD_TYPE=${BUILDTYPE} -DBUILD_WITH_COLLISION_SUPPORT=${BUILD_WITH_COLLISION_SUPPORT} -DBUILD_ADVANCED_TESTING=ON"
- sudo free -m -t
- travis_wait 60 ./.travis/run ../travis_custom/custom_build
after_failure: ./.travis/run after_failure
......
......@@ -54,6 +54,8 @@ IF(DEFINED BUILD_UNIT_TESTS)
SET(BUILD_TESTING ${BUILD_UNIT_TESTS})
ENDIF(DEFINED BUILD_UNIT_TESTS)
OPTION(BUILD_ADVANCED_TESTING "Build the advanced tests (multiprecision, etc.) of Pinocchio" OFF)
# --- OPTIONAL DEPENDENCIES -------------------------
OPTION(BUILD_WITH_URDF_SUPPORT "Build the library with the URDF format support" ON)
OPTION(BUILD_WITH_COLLISION_SUPPORT "Build the library with the Collision support (required HPP-FCL)" OFF)
......
......@@ -31,9 +31,14 @@ SET(${PROJECT_NAME}_EXAMPLES
kinematics-derivatives
forward-dynamics-derivatives
inverse-dynamics-derivatives
multiprecision
)
IF(BUILD_ADVANCED_TESTING)
LIST(APPEND ${PROJECT_NAME}_EXAMPLES
multiprecision
)
ENDIF(BUILD_ADVANCED_TESTING)
IF(HPP_FCL_FOUND)
LIST(APPEND ${PROJECT_NAME}_EXAMPLES
collisions
......
......@@ -122,7 +122,9 @@ ADD_PINOCCHIO_UNIT_TEST(center-of-mass-derivatives)
ADD_PINOCCHIO_UNIT_TEST(contact-dynamics-derivatives)
# Multiprecision arithmetic
ADD_PINOCCHIO_UNIT_TEST(multiprecision)
IF(BUILD_ADVANCED_TESTING)
ADD_PINOCCHIO_UNIT_TEST(multiprecision)
ENDIF(BUILD_ADVANCED_TESTING)
# Automatic differentiation
IF(BUILD_WITH_AUTODIFF_SUPPORT)
......
......@@ -2,7 +2,6 @@
// Copyright (c) 2020 INRIA
//
#include "pinocchio/parsers/urdf.hpp"
#include "pinocchio/algorithm/rnea.hpp"
#include "pinocchio/algorithm/aba.hpp"
#include "pinocchio/algorithm/jacobian.hpp"
......@@ -69,10 +68,9 @@ BOOST_AUTO_TEST_CASE(test_cast)
BOOST_AUTO_TEST_CASE(test_mutliprecision)
{
using namespace pinocchio;
const std::string urdf_filename = PINOCCHIO_MODEL_DIR + std::string("/others/robots/talos_data/urdf/talos_reduced.urdf");
Model model;
pinocchio::urdf::buildModel(urdf_filename, model);
pinocchio::buildModels::humanoidRandom(model);
Data data(model);
model.lowerPositionLimit.head<3>().fill(-1.);
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment