[tests] Update tests.

tests/CMakeLists.txt

@@ -7,5 +7,22 @@ ADD_DEFINITIONS(-DDEBUG=2)
 ADD_UNIT_TEST(main_test main.cc)
 
 TARGET_LINK_LIBRARIES(main_test
+  jrl-walkgen::jrl-walkgen
+  sot-core::sot-core
+  next-step
+  next-step-pg-sot
+  step-checker
+  step-computer-joystick
+  step-observer
+  step-queue
+  step-time-line
+  which-foot-upper
   pg
+  pg-manager
   )
+
+SET(urdfpath ${TALOS_DATA_PREFIX}/share/talos_data/urdf/talos_full_v2.urdf)
+
+TARGET_COMPILE_DEFINITIONS(main_test PUBLIC
+  URDF_FULL_PATH="${urdfpath}" )
+

tests/main.cc

@@ -105,26 +105,10 @@ int main(int, char**) {
   using namespace std;
   dynamicgraph::sot::PatternGenerator aPG;
 
-  // Get environment variable CMAKE_PREFIX_PATH
-  const string s_cmake_prefix_path = getenv( "CMAKE_PREFIX_PATH" );
-
-  // Read the various paths
-  vector<string> paths;
-  boost::split(paths, s_cmake_prefix_path, boost::is_any_of(":;"));
 
   // Search talos_reduced_wpg.urdf
-  string filename="";
-  for (auto test_path : paths)
-  {
-    filename = test_path +
-        string("/share/talos_data/urdf/talos_full_v2.urdf");
-    if ( boost::filesystem::exists(filename))
-      break;
-
-  }
-
-  // If not found fails
-  if (filename.size()==0)
+  string filename(URDF_FULL_PATH);
+  if (!boost::filesystem::exists(filename))
   {
     cerr << "Unable to find talos_reduced_wpg.urdf" << endl;
     exit(-1);