From 4fea1ab5577d81f744dbdc0ed78abae8b9088fbd Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Tue, 16 Jan 2018 11:19:42 +0100
Subject: [PATCH] Add unitary test. TODO: update test_config to reflect new
API.
---
CMakeLists.txt | 3 ++-
unitTesting/CMakeLists.txt | 10 ++++++--
unitTesting/test_constructor.cpp | 42 ++++++++++++++++----------------
3 files changed, 31 insertions(+), 24 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c5cc225..104b705 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -42,6 +42,7 @@ SETUP_PROJECT()
ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.2.0")
ADD_REQUIRED_DEPENDENCY("eigenpy")
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
+ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-tools >= 2.0.0")
@@ -78,7 +79,7 @@ ADD_SUBDIRECTORY(include)
ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(doc)
ADD_SUBDIRECTORY(python)
-#ADD_SUBDIRECTORY(unitTesting)
+ADD_SUBDIRECTORY(unitTesting)
SETUP_PROJECT_FINALIZE()
SETUP_PROJECT_CPACK()
diff --git a/unitTesting/CMakeLists.txt b/unitTesting/CMakeLists.txt
index df7d0d0..864fee2 100644
--- a/unitTesting/CMakeLists.txt
+++ b/unitTesting/CMakeLists.txt
@@ -12,6 +12,7 @@
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
+INCLUDE(../cmake/python.cmake)
ADD_DEFINITIONS(-DDEBUG=2)
@@ -49,13 +50,17 @@ ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
#SET(sampleinitconfig
# ${JRL_DYNAMICS_PKGDATAROOTDIR}/jrl-dynamics/examples/data/sampleInitConfig.dat)
+FINDPYTHON()
+
LIST(APPEND LOGGING_WATCHED_VARIABLES samplespec sampleljr)
FOREACH(test ${tests})
SET(EXECUTABLE_NAME "${test}_exe")
ADD_EXECUTABLE(${EXECUTABLE_NAME}
${test}.cpp)
-
+ MESSAGE("PYTHON_INCLUDE_PATH: ${PYTHON_INCLUDE_PATH}")
+ INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
+
TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
zmpreffromcom
force-compensation
@@ -71,7 +76,8 @@ FOREACH(test ${tests})
PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} pinocchio)
PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} sot-core)
PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} dynamic-graph)
-
+ PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} dynamic-graph-python)
+
IF(${test}_plugins_dependencies)
ADD_DEPENDENCIES(${EXECUTABLE_NAME} "${${test}_plugins_dependencies}")
TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} "${${test}_plugins_dependencies}")
diff --git a/unitTesting/test_constructor.cpp b/unitTesting/test_constructor.cpp
index b821f42..ef62522 100644
--- a/unitTesting/test_constructor.cpp
+++ b/unitTesting/test_constructor.cpp
@@ -29,25 +29,25 @@ using namespace dynamicgraph::sot;
BOOST_AUTO_TEST_CASE (constructor)
{
/*-----------------------CONSTRUCTOR-----------------------------------------*/
- Dynamic dynamic_("sot_dynamic_test");
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.jointPositionSIN.getName().c_str(),"sotDynamic(sot_dynamic_test)::input(vector)::position"),0);
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.freeFlyerPositionSIN.getName().c_str(),"sotDynamic(sot_dynamic_test)::input(vector)::ffposition"),0);
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.jointVelocitySIN.getName().c_str(),"sotDynamic(sot_dynamic_test)::input(vector)::velocity"),0);
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.freeFlyerVelocitySIN.getName().c_str(),"sotDynamic(sot_dynamic_test)::input(vector)::ffvelocity"),0);
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.jointAccelerationSIN.getName().c_str(),"sotDynamic(sot_dynamic_test)::input(vector)::acceleration"),0);
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.freeFlyerAccelerationSIN.getName().c_str(),"sotDynamic(sot_dynamic_test)::input(vector)::ffacceleration"),0);
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.newtonEulerSINTERN.getName().c_str(),"sotDynamic(sot_dynamic_test)::intern(dummy)::newtoneuler" ),0);
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.zmpSOUT.getName().c_str(),"sotDynamic(sot_dynamic_test)::output(vector)::zmp" ),0);
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.JcomSOUT.getName().c_str(),"sotDynamic(sot_dynamic_test)::output(matrix)::Jcom" ),0);
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.comSOUT.getName().c_str(),"sotDynamic(sot_dynamic_test)::output(vector)::com" ),0);
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.inertiaSOUT.getName().c_str(),"sotDynamic(sot_dynamic_test)::output(matrix)::inertia" ),0);
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.footHeightSOUT.getName().c_str(),"sotDynamic(sot_dynamic_test)::output(double)::footHeight" ),0);
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.upperJlSOUT.getName().c_str(),"sotDynamic(sot_dynamic_test)::output(vector)::upperJl" ),0);
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.lowerJlSOUT.getName().c_str(),"sotDynamic(sot_dynamic_test)::output(vector)::lowerJl" ),0);
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.upperVlSOUT.getName().c_str(),"sotDynamic(sot_dynamic_test)::output(vector)::upperVl" ),0);
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.upperTlSOUT.getName().c_str(),"sotDynamic(sot_dynamic_test)::output(vector)::upperTl" ),0);
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.inertiaRotorSOUT.getName().c_str(),"sotDynamic(sot_dynamic_test)::output(matrix)::inertiaRotor" ),0);
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.MomentaSOUT.getName().c_str(),"sotDynamic(sot_dynamic_test)::output(vector)::momenta" ),0);
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.AngularMomentumSOUT.getName().c_str(),"sotDynamic(sot_dynamic_test)::output(vector)::angularmomentum" ),0);
- BOOST_CHECK_EQUAL(std::strcmp(dynamic_.dynamicDriftSOUT.getName().c_str(),"sotDynamic(sot_dynamic_test)::output(vector)::dynamicDrift" ),0);
+ DynamicPinocchio dynamic_("sot_dynamic_test");
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.jointPositionSIN.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::position"),0);
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.freeFlyerPositionSIN.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::ffposition"),0);
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.jointVelocitySIN.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::velocity"),0);
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.freeFlyerVelocitySIN.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::ffvelocity"),0);
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.jointAccelerationSIN.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::acceleration"),0);
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.freeFlyerAccelerationSIN.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::input(vector)::ffacceleration"),0);
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.newtonEulerSINTERN.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::intern(dummy)::newtoneuler" ),0);
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.zmpSOUT.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::zmp" ),0);
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.JcomSOUT.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::output(matrix)::Jcom" ),0);
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.comSOUT.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::com" ),0);
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.inertiaSOUT.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::output(matrix)::inertia" ),0);
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.footHeightSOUT.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::output(double)::footHeight" ),0);
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.upperJlSOUT.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperJl" ),0);
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.lowerJlSOUT.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::lowerJl" ),0);
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.upperVlSOUT.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperVl" ),0);
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.upperTlSOUT.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::upperTl" ),0);
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.inertiaRotorSOUT.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::output(matrix)::inertiaRotor" ),0);
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.MomentaSOUT.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::momenta" ),0);
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.AngularMomentumSOUT.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::angularmomentum" ),0);
+ BOOST_CHECK_EQUAL(std::strcmp(dynamic_.dynamicDriftSOUT.getName().c_str(),"sotDynamicPinocchio(sot_dynamic_test)::output(vector)::dynamicDrift" ),0);
}
--
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