From 04837d784b0aa179c609f7c1f674f6b232f28f8e Mon Sep 17 00:00:00 2001
From: Francois Bleibel <fbleibel@gmail.com>
Date: Fri, 25 Jun 2010 14:20:00 +0900
Subject: [PATCH] Added two unit tests, removed a tool
---
include/sot-core/feature-task.h | 1 +
include/sot-core/utils-windows.h | 27 ++++++
src/task/task-abstract.cpp | 1 +
tools/CMakeLists.txt | 5 +-
tools/sot/Makefile.in | 36 --------
unitTesting/CMakeLists.txt | 15 +++-
.../sot/test_solverSoth.cpp | 83 ++++++++++---------
{tools => unitTesting}/sot/tsot.cpp | 0
8 files changed, 89 insertions(+), 79 deletions(-)
create mode 100644 include/sot-core/utils-windows.h
delete mode 100644 tools/sot/Makefile.in
rename {tools => unitTesting}/sot/test_solverSoth.cpp (86%)
rename {tools => unitTesting}/sot/tsot.cpp (100%)
diff --git a/include/sot-core/feature-task.h b/include/sot-core/feature-task.h
index 979f89d7..f567ccd7 100644
--- a/include/sot-core/feature-task.h
+++ b/include/sot-core/feature-task.h
@@ -49,6 +49,7 @@
/* --------------------------------------------------------------------- */
namespace sot {
+namespace dg = dynamicgraph;
class SOTFEATURETASK_EXPORT FeatureTask
: public FeatureGeneric
diff --git a/include/sot-core/utils-windows.h b/include/sot-core/utils-windows.h
new file mode 100644
index 00000000..7a70dbaf
--- /dev/null
+++ b/include/sot-core/utils-windows.h
@@ -0,0 +1,27 @@
+/*
+ * utils-windows.h
+ *
+ * Created on: Jun 25, 2010
+ * Author: blue
+ */
+
+#ifndef UTILSWINDOWS_H_
+#define UTILSWINDOWS_H_
+
+#ifdef WIN32
+
+#include <sot-core/sot-core-api.h>
+
+#include < time.h >
+
+struct SOT_EXPORT timezone
+{
+ int tz_minuteswest; /* minutes W of Greenwich */
+ int tz_dsttime; /* type of dst correction */
+};
+
+int SOT_EXPORT gettimeofday(struct timeval *tv, struct timezone *tz);
+
+#endif /*WIN32*/
+
+#endif /* UTILSWINDOWS_H_ */
diff --git a/src/task/task-abstract.cpp b/src/task/task-abstract.cpp
index daa6a445..a39f462c 100644
--- a/src/task/task-abstract.cpp
+++ b/src/task/task-abstract.cpp
@@ -28,6 +28,7 @@
using namespace sot;
using namespace dynamicgraph;
+
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
index c6e574eb..0fd4e127 100644
--- a/tools/CMakeLists.txt
+++ b/tools/CMakeLists.txt
@@ -3,6 +3,9 @@
#
### tools
+
+#The sot-core plugin libraries that tools have to be linked against
+#There is currently no way to define separate libraries for separate tools.
SET(TEST_LINK_LIBRARIES
task
feature-visual-point
@@ -10,7 +13,7 @@ SET(TEST_LINK_LIBRARIES
)
SET(tools
- sot/tsot
+ ""
)
FOREACH(tool_name ${tools})
diff --git a/tools/sot/Makefile.in b/tools/sot/Makefile.in
deleted file mode 100644
index bb2f1fb8..00000000
--- a/tools/sot/Makefile.in
+++ /dev/null
@@ -1,36 +0,0 @@
-
-@build_mk@
-
-CXXFLAGS += $(INCLUDE)
-LDFLAGS += $(LIBPATH)
-LIBS += $(LIB) $(LIBS_FLAGS)
-
-MAINS = tsot.cpp
-LOCAL_DIR_BIN = $(PROJECT_TESTS_PATH)/bin
-
-tsot_OBJ =
-tsot_EXT_CLASS = sotTask sotFeatureVisualPoint sotGainAdaptative
-tsot_EXT_OBJ = $(tsot_EXT_CLASS:%=$(PROJECT_PLUGIN_PATH)/%.so)
-
-.DEFAULT: all
-all: install
-
-@directory_mk@
-
-@bin_mk@
-
-install: directory $(LOCAL_DIR_BIN)_MKDIR $(PROGS_EXE)
-
-$(VISP_LIBNAME):
- cd $(VISP_DIR_SRC); $(MAKE)
-
-
-uninstall:
- rm -f $(PROGS)
- rm -f $(DEPFILES)
- rm -rf $(LOCAL_DEP_PATH) $(LOCAL_OBJ_PATH)
-
-@clean_mk@
-
-@depend_mk@
-
diff --git a/unitTesting/CMakeLists.txt b/unitTesting/CMakeLists.txt
index e8317b8f..ec704265 100644
--- a/unitTesting/CMakeLists.txt
+++ b/unitTesting/CMakeLists.txt
@@ -2,12 +2,23 @@
# Copyright
#
+#The sot-core plugin libraries that tests have to be linked against
+#the name of the variable for test EXECUTABLE_NAME is TEST_${EXECUTABLE_NAME}_LIBS
+SET(TEST_tsot_LIBS
+ task
+ feature-visual-point
+ gain-adaptative
+)
+
+#test paths and names (without .cpp extension)
SET (tests
main
signal/test_signal
signal/test_depend
signal/test_ptr
- signal/test_dep)
+ signal/test_dep
+ sot/tsot
+ sot/test_solverSoth)
FOREACH(test ${tests})
GET_FILENAME_COMPONENT(EXECUTABLE_NAME ${test} NAME)
@@ -47,6 +58,8 @@ FOREACH(test ${tests})
dl)
ENDIF(UNIX)
+ TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${TEST_${EXECUTABLE_NAME}_LIBS})
+
ADD_TEST(${test} ${EXECUTABLE_NAME})
ENDFOREACH(test)
diff --git a/tools/sot/test_solverSoth.cpp b/unitTesting/sot/test_solverSoth.cpp
similarity index 86%
rename from tools/sot/test_solverSoth.cpp
rename to unitTesting/sot/test_solverSoth.cpp
index 95403d9f..ed0179df 100644
--- a/tools/sot/test_solverSoth.cpp
+++ b/unitTesting/sot/test_solverSoth.cpp
@@ -1,8 +1,7 @@
//#define VP_DEBUG
#define VP_DEBUG_MODE 45
-#include <sot/sotDebug.h>
-
-#include <sot/sotSolverHierarchicalInequalities.h>
+#include <sot-core/debug.h>
+#include <sot-core/solver-hierarchical-inequalities.h>
#include <fstream>
@@ -11,11 +10,13 @@
#else /*WIN32*/
// When including Winsock2.h, the MAL must be included first
//#include <MatrixAbstractLayer/boost.h>
-# include <sot/sotUtilsWindows.h>
+# include <sot-core/utils-windows.h>
# include <Winsock2.h>
#endif /*WIN32*/
//#define WITH_CHRONO
+using namespace sot;
+
/* ---------------------------------------------------------- */
/* ---------------------------------------------------------- */
/* ---------------------------------------------------------- */
@@ -27,26 +28,26 @@ void parseTest( const std::string filename )
std::string bs;
bubMatrix Rh;
- sotSolverHierarchicalInequalities::ConstraintList constraintH;
+ SolverHierarchicalInequalities::ConstraintList constraintH;
std::vector<bubMatrix> Jes;
std::vector<bubVector> ees;
std::vector<bubMatrix> Jis;
std::vector<bubVector> eiInfs;
std::vector<bubVector> eiSups;
- std::vector<sotConstraintMem::BoundSideVector> bounds;
+ std::vector<ConstraintMem::BoundSideVector> bounds;
int nJ;
int me,mi;
bubMatrix Je,Ji;
bubVector ee,eiInf,eiSup;
- sotConstraintMem::BoundSideVector eiBoundSide;
+ ConstraintMem::BoundSideVector eiBoundSide;
off >> bs; if(bs!="variable") { cerr << "!! '" << bs << "'" << endl; return; }
off >> bs; if(bs!="size") { cerr << "!! '" << bs << "'" << endl; return; }
off >> nJ;
sotRotationComposedInExtenso Qh(nJ);
- std::deque<sotSolverHierarchicalInequalities*> solvers;
+ std::deque<SolverHierarchicalInequalities*> solvers;
for( unsigned int level=0;;++level )
{
@@ -75,19 +76,19 @@ void parseTest( const std::string filename )
for( int j=0;j<nJ;++j )
off >> Ji(i,j);
std::string number;
- eiBoundSide[i] = sotConstraintMem::BOUND_VOID;
+ eiBoundSide[i] = ConstraintMem::BOUND_VOID;
off>>number;
if( number!="X" )
{
- eiBoundSide[i] = (sotConstraintMem::BoundSideType)
- (eiBoundSide[i]|sotConstraintMem::BOUND_INF);
+ eiBoundSide[i] = (ConstraintMem::BoundSideType)
+ (eiBoundSide[i]|ConstraintMem::BOUND_INF);
eiInf(i) = atof(number.c_str());
} else { eiInf(i) = 1e-66; }
off>>number;
if( number!="X" )
{
- eiBoundSide[i] = (sotConstraintMem::BoundSideType)
- (eiBoundSide[i]|sotConstraintMem::BOUND_SUP);
+ eiBoundSide[i] = (ConstraintMem::BoundSideType)
+ (eiBoundSide[i]|ConstraintMem::BOUND_SUP);
eiSup(i) = atof(number.c_str());
} else { eiSup(i) = 1e-66; }
}
@@ -113,13 +114,13 @@ void parseTest( const std::string filename )
bounds.push_back(eiBoundSide);
sotDEBUG(1) << "--- Level " << level << std::endl;
- sotSolverHierarchicalInequalities * solver
- = new sotSolverHierarchicalInequalities(nJ,Qh,Rh,constraintH);
+ SolverHierarchicalInequalities * solver
+ = new SolverHierarchicalInequalities(nJ,Qh,Rh,constraintH);
solver->initConstraintSize(Je.size1()+Ji.size1());
if( solvers.size()==0 ) solver->setInitialConditionVoid();
else
{
- sotSolverHierarchicalInequalities * solverPrec
+ SolverHierarchicalInequalities * solverPrec
= solvers.back();
solver->setInitialCondition( solverPrec->u0,solverPrec->rankh );
}
@@ -152,11 +153,11 @@ void parseTest( const std::string filename )
{
gettimeofday(&t0,NULL);
sotDEBUG(1) << "--- Level " << level << std::endl;
- sotSolverHierarchicalInequalities * solver = solvers[level];
+ SolverHierarchicalInequalities * solver = solvers[level];
if( level==0 ) solver->setInitialConditionVoid();
else
{
- sotSolverHierarchicalInequalities * solverPrec = solvers[level-1];
+ SolverHierarchicalInequalities * solverPrec = solvers[level-1];
solver->setInitialCondition( solverPrec->u0,solverPrec->rankh );
}
@@ -202,7 +203,7 @@ void parseTest( const std::string filename )
/* ---------------------------------------------------------- */
void deparse( std::vector<bubMatrix> Jes,std::vector<bubVector> ees,
std::vector<bubMatrix> Jis,std::vector<bubVector> eiInfs,
- std::vector<bubVector> eiSups,std::vector<sotConstraintMem::BoundSideVector> bounds )
+ std::vector<bubVector> eiSups,std::vector<ConstraintMem::BoundSideVector> bounds )
{
using namespace std;
cout << "variable size " << Jes[0].size2() << endl;
@@ -214,7 +215,7 @@ void deparse( std::vector<bubMatrix> Jes,std::vector<bubVector> ees,
bubVector & ee = ees[i];
bubVector & eiInf = eiInfs[i];
bubVector & eiSup = eiSups[i];
- sotConstraintMem::BoundSideVector & boundSide = bounds[i];
+ ConstraintMem::BoundSideVector & boundSide = bounds[i];
cout << endl << endl << "level" << endl << endl << "equalities " << ee.size() << endl;
if(ee.size()>0)
@@ -228,21 +229,21 @@ void deparse( std::vector<bubMatrix> Jes,std::vector<bubVector> ees,
unsigned int nbIneq = 0;
for( unsigned int i=0;i<boundSide.size();++i )
{
- if( boundSide[i]&sotConstraintMem::BOUND_INF ) nbIneq++;
- if( boundSide[i]&sotConstraintMem::BOUND_SUP ) nbIneq++;
+ if( boundSide[i]&ConstraintMem::BOUND_INF ) nbIneq++;
+ if( boundSide[i]&ConstraintMem::BOUND_SUP ) nbIneq++;
}
cout << endl << "inequalities " << nbIneq << endl;
if(eiInf.size()>0)
for( unsigned int i=0;i<eiInf.size();++i )
{
- if( boundSide[i]&sotConstraintMem::BOUND_INF )
+ if( boundSide[i]&ConstraintMem::BOUND_INF )
{
for( unsigned int j=0;j<Ji.size2();++j )
cout << -Ji(i,j) << " ";
cout << "\t" << " X " << -eiInf(i) << endl;
}
- if( boundSide[i]&sotConstraintMem::BOUND_SUP )
+ if( boundSide[i]&ConstraintMem::BOUND_SUP )
{
for( unsigned int j=0;j<Ji.size2();++j )
cout << Ji(i,j) << " ";
@@ -264,7 +265,7 @@ void convertDoubleToSingle( const std::string filename )
int me,mi;
bubMatrix Je,Ji;
bubVector ee,eiInf,eiSup;
- sotConstraintMem::BoundSideVector eiBoundSide;
+ ConstraintMem::BoundSideVector eiBoundSide;
off >> bs; if(bs!="variable") { cerr << "!! '" << bs << "'" << endl; return; }
off >> bs; if(bs!="size") { cerr << "!! '" << bs << "'" << endl; return; }
@@ -276,7 +277,7 @@ void convertDoubleToSingle( const std::string filename )
std::vector<bubMatrix> Jis;
std::vector<bubVector> eiInfs;
std::vector<bubVector> eiSups;
- std::vector<sotConstraintMem::BoundSideVector> bounds;
+ std::vector<ConstraintMem::BoundSideVector> bounds;
for( unsigned int level=0;;++level )
{
@@ -303,17 +304,17 @@ void convertDoubleToSingle( const std::string filename )
for( int j=0;j<nJ;++j )
off >> Ji(i,j);
std::string number;
- eiBoundSide[i] = sotConstraintMem::BOUND_VOID;
+ eiBoundSide[i] = ConstraintMem::BOUND_VOID;
off>>number; // std::cout << "toto '" << number << "'" << std::endl;
if( number!="X" )
{
- eiBoundSide[i] = (sotConstraintMem::BoundSideType)(eiBoundSide[i]|sotConstraintMem::BOUND_INF);
+ eiBoundSide[i] = (ConstraintMem::BoundSideType)(eiBoundSide[i]|ConstraintMem::BOUND_INF);
eiInf(i) = atof(number.c_str());
} else { eiInf(i) = 1e-66; }
off>>number;
if( number!="X" )
{
- eiBoundSide[i] = (sotConstraintMem::BoundSideType)(eiBoundSide[i]|sotConstraintMem::BOUND_SUP);
+ eiBoundSide[i] = (ConstraintMem::BoundSideType)(eiBoundSide[i]|ConstraintMem::BOUND_SUP);
eiSup(i) = atof(number.c_str());
} else { eiSup(i) = 1e-66; }
}
@@ -334,14 +335,14 @@ void convertDoubleToSingle( const std::string filename )
/* ---------------------------------------------------------- */
/* ---------------------------------------------------------- */
/* ---------------------------------------------------------- */
-void randBound( sotConstraintMem::BoundSideVector& M,const unsigned int row)
+void randBound( ConstraintMem::BoundSideVector& M,const unsigned int row)
{
M.resize(row);
for( unsigned int i=0;i<row;++i )
{
double c = ((rand()+0.0)/RAND_MAX*2)-1.;
- if( c<0 ) M[i] = sotConstraintMem::BOUND_INF;
- else M[i] = sotConstraintMem::BOUND_SUP;
+ if( c<0 ) M[i] = ConstraintMem::BOUND_INF;
+ else M[i] = ConstraintMem::BOUND_SUP;
}
}
@@ -349,7 +350,7 @@ void randTest( const unsigned int nJ,const bool enableSolve[] )
{
bubVector eiInf0(nJ),ee0(1),eiSup0(nJ);
bubMatrix Ji0(nJ,nJ),Je0(1,nJ);
- sotConstraintMem::BoundSideVector bound0(nJ,sotConstraintMem::BOUND_INF);
+ ConstraintMem::BoundSideVector bound0(nJ,ConstraintMem::BOUND_INF);
Ji0.assign( bub::identity_matrix<double>(nJ));
eiInf0.assign( bub::zero_vector<double>(nJ));
Je0.assign( bub::zero_matrix<double>(1,nJ));
@@ -358,7 +359,7 @@ void randTest( const unsigned int nJ,const bool enableSolve[] )
bubVector ee1,eiInf1,eiSup1;
bubMatrix Je1,Ji1;
- sotConstraintMem::BoundSideVector bound1;
+ ConstraintMem::BoundSideVector bound1;
randVector(ee1,3); sotDEBUG(15) << "ee1 = " << (MATLAB)ee1 << std::endl;
randVector(eiInf1,3); sotDEBUG(15) << "eiInf1 = " << (MATLAB)eiInf1 << std::endl;
randVector(eiSup1,3); sotDEBUG(15) << "eiSup1 = " << (MATLAB)eiSup1 << std::endl;
@@ -375,7 +376,7 @@ void randTest( const unsigned int nJ,const bool enableSolve[] )
bubVector ee2,eiInf2,eiSup2;
bubMatrix Je2,Ji2;
- sotConstraintMem::BoundSideVector bound2;
+ ConstraintMem::BoundSideVector bound2;
randVector(ee2,3); sotDEBUG(15) << "ee2 = " << (MATLAB)ee2 << std::endl;
randVector(eiInf2,3); sotDEBUG(15) << "eiInf2 = " << (MATLAB)eiInf2 << std::endl;
randVector(eiSup2,3); sotDEBUG(15) << "eiSup2 = " << (MATLAB)eiSup2 << std::endl;
@@ -385,7 +386,7 @@ void randTest( const unsigned int nJ,const bool enableSolve[] )
bubVector ee3,eiInf3,eiSup3;
bubMatrix Je3,Ji3;
- sotConstraintMem::BoundSideVector bound3;
+ ConstraintMem::BoundSideVector bound3;
randVector(ee3,3); sotDEBUG(15) << "ee3 = " << (MATLAB)ee3 << std::endl;
randVector(eiInf3,3); sotDEBUG(15) << "eiInf3 = " << (MATLAB)eiInf3 << std::endl;
randVector(eiSup3,3); sotDEBUG(15) << "eiSup3 = " << (MATLAB)eiSup3 << std::endl;
@@ -395,7 +396,7 @@ void randTest( const unsigned int nJ,const bool enableSolve[] )
bubVector ee4(nJ),eiInf4(1),eiSup4(1);
bubMatrix Je4(nJ,nJ),Ji4(1,nJ);
- sotConstraintMem::BoundSideVector bound4(1,sotConstraintMem::BOUND_INF);
+ ConstraintMem::BoundSideVector bound4(1,ConstraintMem::BOUND_INF);
Je4.assign( bub::identity_matrix<double>(nJ));
ee4.assign( bub::zero_vector<double>(nJ));
Ji4.assign( bub::zero_matrix<double>(1,nJ));
@@ -408,7 +409,7 @@ void randTest( const unsigned int nJ,const bool enableSolve[] )
std::vector<bubMatrix> Jis;
std::vector<bubVector> eiInfs;
std::vector<bubVector> eiSups;
- std::vector<sotConstraintMem::BoundSideVector> bounds;
+ std::vector<ConstraintMem::BoundSideVector> bounds;
if(enableSolve[0])
{
@@ -460,8 +461,8 @@ void randTest( const unsigned int nJ,const bool enableSolve[] )
sotRotationComposedInExtenso Qh(nJ);
bubMatrix Rh;
- sotSolverHierarchicalInequalities::ConstraintList constraintH;
- sotSolverHierarchicalInequalities solver(nJ,Qh,Rh,constraintH);
+ SolverHierarchicalInequalities::ConstraintList constraintH;
+ SolverHierarchicalInequalities solver(nJ,Qh,Rh,constraintH);
solver.initConstraintSize((40+6+6+6+40)+2);
@@ -504,7 +505,7 @@ int main( void )
for(int i=0;i<10;++i)
#endif
#endif
- parseTest("/home/nmansard/src/StackOfTasks/tests/sot/t.txt");
+ parseTest("/home/nmansard/src/StackOfTasks/tests//t.txt");
// bool enable [5] ={ 1,1,0,0,0};
// randTest(9,enable );
}
diff --git a/tools/sot/tsot.cpp b/unitTesting/sot/tsot.cpp
similarity index 100%
rename from tools/sot/tsot.cpp
rename to unitTesting/sot/tsot.cpp
--
GitLab