From 8a6ebb7719d233ae40abb3eb276217d77a92857d Mon Sep 17 00:00:00 2001
From: olivier-stasse <olivier.stasse@aist.go.jp>
Date: Wed, 24 Nov 2010 14:39:31 +0900
Subject: [PATCH] Correct tests to accept the sample humanoid robot specific
case.
---
unitTesting/CMakeLists.txt | 85 ++++++++++++++++++++++--------------
unitTesting/test_djj.cpp | 1 +
unitTesting/test_dyn.cpp | 48 ++++++++++++--------
unitTesting/test_results.cpp | 4 +-
4 files changed, 85 insertions(+), 53 deletions(-)
diff --git a/unitTesting/CMakeLists.txt b/unitTesting/CMakeLists.txt
index 919267c..1a0c081 100644
--- a/unitTesting/CMakeLists.txt
+++ b/unitTesting/CMakeLists.txt
@@ -16,40 +16,61 @@
ADD_DEFINITIONS(-DDEBUG=2)
SET(tests
- dummy
- test_djj
- test_dyn
- test_results)
+ dummy
+ test_djj
+ test_dyn
+ test_results)
SET(test_dyn_plugins_dependencies dynamic)
+# getting the information for the robot.
+SET(samplemodelpath ${JRL_DYNAMICS_PKGDATAROOTDIR}/examples/data/)
+SET(samplespec
+ ${JRL_DYNAMICS_PKGDATAROOTDIR}/examples/data/sampleSpecificities.xml
+ )
+SET(sampleljr
+ ${JRL_DYNAMICS_PKGDATAROOTDIR}/examples/data/sampleLinkJointRank.xml
+ )
+SET(sampleinitconfig
+ ${JRL_DYNAMICS_PKGDATAROOTDIR}/examples/data/sampleInitConfig.dat)
+
+LIST(APPEND LOGGING_WATCHED_VARIABLES samplespec sampleljr)
+
FOREACH(test ${tests})
- SET(EXECUTABLE_NAME "${test}_exe")
- ADD_EXECUTABLE(${EXECUTABLE_NAME}
- ${test}.cpp)
-
- TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
- zmpreffromcom
- force-compensation
- integrator-force-exact
- mass-apparent
- integrator-force-rk4
- integrator-force
- angle-estimator
- waist-attitude-from-sensor
- )
-
- PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} jrl-dynamics)
- PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} hrp2-dynamics)
- PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} sot-core)
- PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} dynamic-graph)
- PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} jrl-mal)
-
- IF(${test}_plugins_dependencies)
- ADD_DEPENDENCIES(${EXECUTABLE_NAME} "${${test}_plugins_dependencies}")
- TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} "${${test}_plugins_dependencies}")
- ENDIF(${test}_plugins_dependencies)
-
-
- ADD_TEST(${test} ${EXECUTABLE_NAME})
+ SET(EXECUTABLE_NAME "${test}_exe")
+ ADD_EXECUTABLE(${EXECUTABLE_NAME}
+ ${test}.cpp)
+
+ TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
+ zmpreffromcom
+ force-compensation
+ integrator-force-exact
+ mass-apparent
+ integrator-force-rk4
+ integrator-force
+ angle-estimator
+ waist-attitude-from-sensor
+ )
+
+ PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} jrl-dynamics)
+ PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} hrp2-dynamics)
+ PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} sot-core)
+ PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} dynamic-graph)
+ PKG_CONFIG_USE_DEPENDENCY(${EXECUTABLE_NAME} jrl-mal)
+
+
+ IF(${test}_plugins_dependencies)
+ ADD_DEPENDENCIES(${EXECUTABLE_NAME} "${${test}_plugins_dependencies}")
+ TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} "${${test}_plugins_dependencies}")
+ ENDIF(${test}_plugins_dependencies)
+
+
+ ADD_TEST(${test} ${EXECUTABLE_NAME}
+ ${samplemodelpath} sample.wrl ${samplespec} ${sampleljr} )
+
+ IF (UNIX)
+ SET_PROPERTY(TEST ${test} PROPERTY
+ ENVIRONMENT "LD_LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/lib:${CMAKE_BINARY_DIR}/src")
+ ENDIF(UNIX)
+
ENDFOREACH(test)
diff --git a/unitTesting/test_djj.cpp b/unitTesting/test_djj.cpp
index 9b4d24f..4ec9d62 100644
--- a/unitTesting/test_djj.cpp
+++ b/unitTesting/test_djj.cpp
@@ -225,4 +225,5 @@ int main(int argc, char *argv[])
// The End!
delete aHDR;
+ return true;
}
diff --git a/unitTesting/test_dyn.cpp b/unitTesting/test_dyn.cpp
index 0bfa715..36cd6b5 100644
--- a/unitTesting/test_dyn.cpp
+++ b/unitTesting/test_dyn.cpp
@@ -28,28 +28,38 @@
using namespace std;
using namespace sot;
-int main( void )
+int main(int argc, char * argv[])
{
-
+ if (argc!=5)
+ {
+ cerr << "Usage:" << endl;
+ cerr << "./" << argv[0] << " DIR_OF_VRML_MODEL VRML_MODEL_FILENAME PATH_TO_SPECIFICITIES_FILE PATH_TO_LINK2JOINT_FILE " << endl;
+ cerr << " DIR_OF_VRML_MODEL : Directory where the robot VRML model lies. "<< endl;
+ cerr << " VRML_MODEL_FILENAME : Filename of the VRML model describing the robot." << endl;
+ cerr << " PATH_TO_SPECIFICITIES_FILE : Path to the file describing the humanoid robot specificities." << endl;
+ cerr << " PATH_TO_LINK2JOINT_FILE: Path to the file describing the relationship of the joint and the state vector." << endl;
+ }
Dynamic * dyn = new Dynamic("tot");
- try {
- dyn->setVrmlDirectory("~/src/OpenHRP/etc/HRP2JRL/");
- dyn->setXmlSpecificityFile("~/src/PatternGeneratorJRL/src/data/HRP2Specificities.xml");
- dyn->setXmlRankFile("~/src/PatternGeneratorJRL/src/data/HRP2LinkJointRank.xml");
- dyn->setVrmlMainFile("HRP2JRLmain.wrl");
-
- dyn->parseConfigFiles();
- } catch (sot::ExceptionDynamic& e)
- {
- if ( !strcmp(e.what(), "Error while parsing." )) {
- cout << "Could not locate the necessary files for this test" << endl;
- return 77;
- }
- else
- // rethrow
- throw e;
- }
+ try
+ {
+ dyn->setVrmlDirectory(argv[1]);
+ dyn->setXmlSpecificityFile(argv[3]);
+ dyn->setXmlRankFile(argv[4]);
+ dyn->setVrmlMainFile(argv[2]);
+
+ dyn->parseConfigFiles();
+ }
+ catch (sot::ExceptionDynamic& e)
+ {
+ if ( !strcmp(e.what(), "Error while parsing." )) {
+ cout << "Could not locate the necessary files for this test" << endl;
+ return 77;
+ }
+ else
+ // rethrow
+ throw e;
+ }
istringstream iss;
string help("help");
diff --git a/unitTesting/test_results.cpp b/unitTesting/test_results.cpp
index 904d25e..275db56 100644
--- a/unitTesting/test_results.cpp
+++ b/unitTesting/test_results.cpp
@@ -41,11 +41,11 @@ using namespace std;
int main(int argc, char * argv[])
{
- if (argc!=5)
+ if (argc!=6)
{
cerr << " This program takes 4 arguments: " << endl;
cerr << "./TestHumanoidDynamicRobot PATH_TO_VRML_FILE VRML_FILE_NAME "<< endl;
- cerr << " PATH_TO_SPECIFICITIES_XML PATH PATH_TO_MAP_JOINT_2_RANK" << endl;
+ cerr << " PATH_TO_SPECIFICITIES_XML PATH PATH_TO_MAP_JOINT_2_RANK INITIAL_CONFIGURATION_FILE" << endl;
exit(0);
}
--
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