Commit ca44ff04 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Test for Humanoid Path Planner Platform.

parents
[submodule "cmake"]
path = cmake
url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
# Copyright 2012, 2013, 2014 CNRS-LAAS
#
# Author: Florent Lamiraux, Thomas Moulard
#
# This file is part of hpp-model-urdf.
# hpp-model-urdf is free software: you can redistribute it and/or modify
# it under the terms of the GNU Lesser General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# hpp-model-urdf is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Lesser Public License for more details.
# You should have received a copy of the GNU Lesser General Public License
# along with hpp-model-urdf. If not, see <http://www.gnu.org/licenses/>.
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
include(cmake/base.cmake)
include(cmake/boost.cmake)
SET(PROJECT_NAME hpp-test)
SET(PROJECT_DESCRIPTION "Integration tests for Humanoid Path Planner platform.")
SET(PROJECT_URL "github.com/laas/hpp-test")
SETUP_PROJET()
ADD_REQUIRED_DEPENDENCY("hpp-model-urdf >= 2.0")
ADD_REQUIRED_DEPENDENCY("hrp2_14_decription")
INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
# Make Boost.Test generates the main function in test cases.
ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
# ADD_TESTCASE(NAME)
# ------------------------
#
# Define a test named `NAME'.
#
# This macro will create a binary from `NAME.cc', link it against
# Boost and add it to the test suite.
#
MACRO(ADD_TESTCASE NAME GENERATED)
IF (${GENERATED} STREQUAL TRUE)
ADD_EXECUTABLE(${NAME} ${CMAKE_CURRENT_BINARY_DIR}/${NAME}.cc)
ELSE()
ADD_EXECUTABLE(${NAME} ${NAME}.cc)
ENDIF()
ADD_TEST(${NAME} ${RUNTIME_OUTPUT_DIRECTORY}/${NAME})
# Link against Boost and project library.
TARGET_LINK_LIBRARIES(${NAME}
${Boost_LIBRARIES}
${PROJECT_NAME})
PKG_CONFIG_USE_DEPENDENCY(${NAME} hpp-model-urdf)
ENDMACRO(ADD_TESTCASE)
SETUP_PROJET_FINALIZE()
Integration tests for Humanoid Path Planner
Subproject commit e31b581cd45f102d2b9b28e182f096e4b51696a7
Data files
- configuration.data: contains a configuration for hrp2 as described in
hrp2_14_description package. The configuration is valid for the following sets
of files:
- "hrp2_14.urdf", "hrp2_14.srdf", "hrp2_14.rcpdf" (model 1),
- "hrp2_14_capsule.urdf", "hrp2_14_capsule.srdf", "hrp2_14.rcpdf" (model 2).
- distances-mesh.data: contains inter-body distance information for model 1.
For each line, the data is organized as follows
distance, name of one body, x,y,z coordinates of one closest point,
x,y,z coordinates of the other closest point.
- distance-capsule.data: the same for model 2.
Note that coordinates of closest points are expressed in world frame.
\ No newline at end of file
0.7832759914634781, -0.6287488328607549, 0.6556417293694411, -4.742634295154079e-10, 4.520655732831794e-10, 2.65740280583136, -0.05964761341484225, -0.07981055048413252, 0.16590322948375874, -0.004144442702387867, 0.26483964517748976, 0.26192191007679017, -0.050295369867256, -0.37034363990486474, 0.02150198818252944, 0.1266227625588889, 0.38, -0.38, 0.38, -0.38, 0.38, -0.38, -0.3899134972725518, -0.5925498643189667, -0.19613681199200853, -1.2401320912584846, 0.2763998757815979, -0.027768398868772835, 0.75, -0.75, 0.75, -0.75, 0.75, -0.75, 0.031489444476891226, -0.012849646226002981, -0.4429796164539539, 0.8176013848056326, -0.3746217737072531, 0.012849649901645105, 0.031489445877715766, -0.0129470969613853, -0.44536550586899665, 0.8087943898553672, -0.3634288825007756, 0.012947096434125274
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