Test for Humanoid Path Planner Platform.

.gitmodules

+[submodule "cmake"]
+	path = cmake
+	url = git://github.com/jrl-umi3218/jrl-cmakemodules.git

CMakeLists.txt

+# 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()

README.md

+Integration tests for Humanoid Path Planner

cmake @ e31b581c

+Subproject commit e31b581cd45f102d2b9b28e182f096e4b51696a7

data/README

+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

data/configuration.data

+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