From c42ca2bdc6227a7888707b1e4f5c84b124ec7a3c Mon Sep 17 00:00:00 2001
From: Francois Bleibel <fbleibel@gmail.com>
Date: Thu, 24 Jun 2010 16:27:54 +0900
Subject: [PATCH] Added tools/ directory for... tools. Some corrections in the
unit testing facility.
---
CMakeLists.txt | 2 ++
include/sot-core/debug.h | 20 +++++------
src/CMakeLists.txt | 73 ++++++++++++++++++++++----------------
src/sot/sot-qr.cpp | 2 +-
src/sot/sot.cpp | 2 +-
src/task/multi-bound.cpp | 1 -
tools/CMakeLists.txt | 30 ++++++++++++++++
unitTesting/CMakeLists.txt | 3 +-
8 files changed, 89 insertions(+), 44 deletions(-)
create mode 100644 tools/CMakeLists.txt
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0b295e9e..cc17d7be 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -35,6 +35,7 @@ ENDIF(
(NOT "${CMAKE_GENERATOR}" MATCHES "Visual Studio.*")
)
+enable_testing()
#
# Look for dependencies
@@ -138,6 +139,7 @@ INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.pc
ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(include)
ADD_SUBDIRECTORY(unitTesting)
+ADD_SUBDIRECTORY(tools)
#
# Documentation produced by doxygen
diff --git a/include/sot-core/debug.h b/include/sot-core/debug.h
index 79e5656e..2bc14692 100644
--- a/include/sot-core/debug.h
+++ b/include/sot-core/debug.h
@@ -114,17 +114,17 @@ SOT_CORE_EXPORT extern DebugTrace sotERRORFLOW;
#define sotPREERROR "\t!! "<<__FILE__ << ": " <<__FUNCTION__ \
<< "(#" << __LINE__ << ") :"
-# define sotDEBUG(level) if( (level>VP_DEBUG_MODE)||(!sotDEBUGFLOW.outputbuffer.good()) ) ;\
- else sotDEBUGFLOW.outputbuffer << sotPREDEBUG
-# define sotDEBUGMUTE(level) if( (level>VP_DEBUG_MODE)||(!sotDEBUGFLOW.outputbuffer.good()) ) ;\
- else sotDEBUGFLOW.outputbuffer
-# define sotERROR if(!sotDEBUGFLOW.outputbuffer.good()); else sotERRORFLOW.outputbuffer << sotPREERROR
-# define sotDEBUGF if(!sotDEBUGFLOW.outputbuffer.good()); else sotDEBUGFLOW.pre(sotDEBUGFLOW.tmpbuffer<<sotPREDEBUG,VP_DEBUG_MODE).trace
-# define sotERRORF if(!sotDEBUGFLOW.outputbuffer.good()); else sotERRORFLOW.pre(sotERRORFLOW.tmpbuffer<<sotPREERROR).trace
+# define sotDEBUG(level) if( (level>VP_DEBUG_MODE)||(!sot::sotDEBUGFLOW.outputbuffer.good()) ) ;\
+ else sot::sotDEBUGFLOW.outputbuffer << sotPREDEBUG
+# define sotDEBUGMUTE(level) if( (level>VP_DEBUG_MODE)||(!sot::sotDEBUGFLOW.outputbuffer.good()) ) ;\
+ else sot::sotDEBUGFLOW.outputbuffer
+# define sotERROR if(!sot::sotDEBUGFLOW.outputbuffer.good()); else sot::sotERRORFLOW.outputbuffer << sotPREERROR
+# define sotDEBUGF if(!sot::sotDEBUGFLOW.outputbuffer.good()); else sot::sotDEBUGFLOW.pre(sot::sotDEBUGFLOW.tmpbuffer<<sotPREDEBUG,VP_DEBUG_MODE).trace
+# define sotERRORF if(!sot::sotDEBUGFLOW.outputbuffer.good()); else sot::sotERRORFLOW.pre(sot::sotERRORFLOW.tmpbuffer<<sotPREERROR).trace
// TEMPLATE
-# define sotTDEBUG(level) if( (level>VP_TEMPLATE_DEBUG_MODE)||(!sotDEBUGFLOW.outputbuffer.good()) ) ;\
- else sotDEBUGFLOW.outputbuffer << sotPREDEBUG
-# define sotTDEBUGF if(!sotDEBUGFLOW.outputbuffer.good()); else sotDEBUGFLOW.pre(sotDEBUGFLOW.tmpbuffer<<sotPREDEBUG,VP_TEMPLATE_DEBUG_MODE).trace
+# define sotTDEBUG(level) if( (level>VP_TEMPLATE_DEBUG_MODE)||(!sot::sotDEBUGFLOW.outputbuffer.good()) ) ;\
+ else sot::sotDEBUGFLOW.outputbuffer << sotPREDEBUG
+# define sotTDEBUGF if(!sot::sotDEBUGFLOW.outputbuffer.good()); else sot::sotDEBUGFLOW.pre(sot::sotDEBUGFLOW.tmpbuffer<<sotPREDEBUG,VP_TEMPLATE_DEBUG_MODE).trace
inline bool sotDEBUG_ENABLE( const int & level ) { return level<=VP_DEBUG_MODE; }
inline bool sotTDEBUG_ENABLE( const int & level ) { return level<=VP_TEMPLATE_DEBUG_MODE; }
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 4edde21a..32ea5981 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -5,12 +5,42 @@
# The main library name
SET(SOTCORE_LIB_NAME ${PROJECT_NAME})
-#This project will create many shared libraries as plugins, listed here
+#This project will create many plugins as shared libraries, listed here
SET(plugins
sot/sot-qr
sot/weighted-sot
sot/sot-h
sot/sot
+
+ math/op-point-modifier
+
+ matrix/binary-op
+ matrix/derivator
+ matrix/fir-filter
+ matrix/integrator-abstract
+ matrix/integrator-euler
+ matrix/matrix-constant
+ matrix/unary-op
+ matrix/vector-constant
+ matrix/vector-to-rotation
+
+ task/gain-adaptative
+ task/task-pd
+ task/constraint
+ task/gain-hyperbolic
+ task/task
+ task/task-conti
+ task/task-unilateral
+
+ feature/feature-point6d
+ feature/feature-vector3
+ feature/feature-generic
+ feature/feature-joint-limits
+ feature/feature-1d
+ feature/feature-point6d-relative
+ feature/feature-visual-point
+ feature/feature-task
+ feature/feature-line-distance
)
SET(LIBRARY_NAME ${SOTCORE_LIB_NAME})
@@ -29,45 +59,18 @@ SET(${PROJECT_NAME}_SOURCES
signal/signal-cast.cpp
- matrix/binary-op.cpp
- matrix/derivator.cpp
- matrix/fir-filter.cpp
- matrix/integrator-abstract.cpp
- matrix/integrator-euler.cpp
- matrix/matrix-constant.cpp
- matrix/unary-op.cpp
- matrix/vector-constant.cpp
- matrix/vector-to-rotation.cpp
-
math/matrix-force.cpp
math/matrix-homogeneous.cpp
math/matrix-rotation.cpp
math/matrix-twist.cpp
- math/op-point-modifier.cpp
math/vector-quaternion.cpp
math/vector-roll-pitch-yaw.cpp
math/vector-utheta.cpp
- feature/feature-point6d.cpp
- feature/feature-vector3.cpp
feature/feature-abstract.cpp
- feature/feature-generic.cpp
- feature/feature-joint-limits.cpp
- feature/feature-1d.cpp
- feature/feature-point6d-relative.cpp
- feature/feature-visual-point.cpp
- feature/feature-task.cpp
- feature/feature-line-distance.cpp
-
- task/gain-adaptative.cpp
- task/task-pd.cpp
- task/constraint.cpp
- task/gain-hyperbolic.cpp
- task/task.cpp
- task/multi-bound.cpp
- task/task-conti.cpp
- task/task-unilateral.cpp
+
task/task-abstract.cpp
+ task/multi-bound.cpp
sot/flags.cpp
sot/memory-task-sot.cpp
@@ -82,6 +85,11 @@ SET(${PROJECT_NAME}_SOURCES
INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
+#define VP_DEBUG if we're building in debug mode
+IF ( ${CMAKE_BUILD_TYPE} STREQUAL "DEBUG" )
+ ADD_DEFINITIONS(-DVP_DEBUG)
+ENDIF ( ${CMAKE_BUILD_TYPE} STREQUAL "DEBUG" )
+
ADD_DEFINITIONS(-DDEBUG=2)
# provide path to library libMatrixAbstractLayer.so
@@ -155,6 +163,11 @@ FOREACH(plugin ${plugins})
INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
+ #define VP_DEBUG if we're building in debug mode
+ IF ( ${CMAKE_BUILD_TYPE} STREQUAL "DEBUG" )
+ ADD_DEFINITIONS(-DVP_DEBUG)
+ ENDIF ( ${CMAKE_BUILD_TYPE} STREQUAL "DEBUG" )
+
ADD_DEFINITIONS(-DDEBUG=2)
# provide path to library libMatrixAbstractLayer.so
diff --git a/src/sot/sot-qr.cpp b/src/sot/sot-qr.cpp
index b3592404..c6de0808 100644
--- a/src/sot/sot-qr.cpp
+++ b/src/sot/sot-qr.cpp
@@ -882,7 +882,7 @@ computeControlLaw( ml::Vector& control,const int& iterTime )
TaskAbstract & task = **iter;
MemoryTaskSOT * mem = dynamic_cast<MemoryTaskSOT *>( task.memoryInternal );
const ml::Matrix &Jac = mem->JK;
- const ml::Vector &err = task.taskSOUT.accessCopy();
+ const ml::Vector &err = Sot::taskVectorToMlVector(task.taskSOUT.accessCopy());
ml::Vector diffErr(err.size());
Jac.multiply(control,diffErr);
diff --git a/src/sot/sot.cpp b/src/sot/sot.cpp
index 2884a086..e66f1c86 100644
--- a/src/sot/sot.cpp
+++ b/src/sot/sot.cpp
@@ -29,7 +29,7 @@
#ifdef VP_DEBUG
class sotSOT__INIT
{
- public:sotSOT__INIT( void ) { DebugTrace::openFile(); }
+ public:sotSOT__INIT( void ) { sot::DebugTrace::openFile(); }
};
sotSOT__INIT sotSOT_initiator;
#endif //#ifdef VP_DEBUG
diff --git a/src/task/multi-bound.cpp b/src/task/multi-bound.cpp
index 1250d915..3aaf5f55 100644
--- a/src/task/multi-bound.cpp
+++ b/src/task/multi-bound.cpp
@@ -19,7 +19,6 @@
#include <sot-core/multi-bound.h>
-#define VP_DEBUG
#define VP_DEBUG_MODE 25
#include <sot-core/debug.h>
diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
new file mode 100644
index 00000000..58473bc6
--- /dev/null
+++ b/tools/CMakeLists.txt
@@ -0,0 +1,30 @@
+#
+# Copyright
+#
+
+### tools
+SET(tools
+ ""
+)
+
+FOREACH(tool_name ${tools})
+ SET(EXECUTABLE_NAME ${tool_name})
+
+ ADD_DEFINITIONS(-DDEBUG=2)
+
+ ADD_EXECUTABLE(${EXECUTABLE_NAME}
+ ${tool_name}.cpp)
+
+ INCLUDE_DIRECTORIES(
+ ${CMAKE_CURRENT_SOURCE_DIR}/../include
+ )
+
+ LINK_DIRECTORIES(${${PROJECT_NAME}_BINARY_DIR}/lib)
+
+ TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
+ ${PROJECT_NAME}
+ dl)
+
+ INSTALL(TARGETS ${tool_name}
+ DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/${PROJECT_NAME})
+ENDFOREACH(tool_name)
\ No newline at end of file
diff --git a/unitTesting/CMakeLists.txt b/unitTesting/CMakeLists.txt
index 06071bb2..2fd7e614 100644
--- a/unitTesting/CMakeLists.txt
+++ b/unitTesting/CMakeLists.txt
@@ -5,7 +5,6 @@
SET (tests
main
signal/test_signal
- signal/test_array
signal/test_depend
signal/test_ptr
signal/test_dep)
@@ -48,5 +47,7 @@ FOREACH(test ${tests})
TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
dl)
ENDIF(UNIX)
+
+ ADD_TEST(${test} ${EXECUTABLE_NAME})
ENDFOREACH(test)
--
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