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remove dependency on gflags, C++11 from test_invdyn_bullet.cpp

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add support for premake for test_invdyn_bullet
This commit is contained in:
Erwin Coumans 2015-12-02 17:49:25 -08:00
parent 3dfebe0c45
commit 332017ff23
2 changed files with 82 additions and 10 deletions
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73
test/InverseDynamics/premake4.lua
View File

@ -32,3 +32,76 @@
if os.is("Linux") then if os.is("Linux") then
links {"pthread"} links {"pthread"}
end end
project "Test_InverseForwardDynamics"
kind "ConsoleApp"
-- defines { }
includedirs
{
".",
"../../src",
"../../examples/InverseDynamics",
"../../examples/ThirdPartyLibs",
"../../Extras/InverseDynamics",
"../gtest-1.7.0/include"
}
if os.is("Windows") then
--see http://stackoverflow.com/questions/12558327/google-test-in-visual-studio-2012
defines {"_VARIADIC_MAX=10"}
end
links {"BulletDynamics", "BulletCollision","BulletInverseDynamicsUtils", "BulletInverseDynamics","Bullet3Common","LinearMath", "gtest"}
files {
"test_invdyn_bullet.cpp",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
"../../examples/Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h",
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h",
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h",
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
"../../examples/Importers/ImportURDFDemo/UrdfParser.h",
"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../../examples/Importers/ImportURDFDemo/URDF2Bullet.h",
"../../examples/Utils/b3Clock.cpp",
"../../Extras/Serialize/BulletWorldImporter/*",
"../../Extras/Serialize/BulletFileLoader/*",
"../../examples/Importers/ImportURDFDemo/URDFImporterInterface.h",
"../../examples/Importers/ImportURDFDemo/URDFJointTypes.h",
"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../../examples/Importers/ImportSTLDemo/ImportSTLSetup.h",
"../../examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h",
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../examples/Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../examples/ThirdPartyLibs/urdf/boost_replacement/lexical_cast.h",
}
if os.is("Linux") then
links {"pthread"}
end

19
test/InverseDynamics/test_invdyn_bullet.cpp
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@ -18,7 +18,6 @@
#include <BulletDynamics/Featherstone/btMultiBodyPoint2Point.h> #include <BulletDynamics/Featherstone/btMultiBodyPoint2Point.h>
#include <BulletDynamics/Featherstone/btMultiBodyLinkCollider.h> #include <BulletDynamics/Featherstone/btMultiBodyLinkCollider.h>
#include <../CommonInterfaces/CommonGUIHelperInterface.h> #include <../CommonInterfaces/CommonGUIHelperInterface.h>
#include <gflags/gflags.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <../Importers/ImportURDFDemo/BulletUrdfImporter.h> #include <../Importers/ImportURDFDemo/BulletUrdfImporter.h>
#include <../Importers/ImportURDFDemo/URDF2Bullet.h> #include <../Importers/ImportURDFDemo/URDF2Bullet.h>
@ -29,10 +28,12 @@
#include <btMultiBodyFromURDF.hpp> #include <btMultiBodyFromURDF.hpp>
#include <MultiBodyTreeCreator.hpp> #include <MultiBodyTreeCreator.hpp>
#include <MultiBodyTreeDebugGraph.hpp> #include <MultiBodyTreeDebugGraph.hpp>
#include "Bullet3Common/b3CommandLineArgs.h"
#include "Bullet3Common/b3Random.h"
using namespace btInverseDynamics; using namespace btInverseDynamics;
DEFINE_bool(verbose, false, "print extra info"); bool FLAGS_verbose=false;
static btVector3 gravity(0, 0, -10); static btVector3 gravity(0, 0, -10);
static const bool kBaseFixed = false; static const bool kBaseFixed = false;
@ -67,15 +68,13 @@ TEST(InvDynCompare, bulletUrdfR2D2) {
double max_pos_error = 0; double max_pos_error = 0;
double max_acc_error = 0; double max_acc_error = 0;
std::default_random_engine generator; b3Srand(0);
std::uniform_real_distribution<double> distribution(-M_PI, M_PI);
auto rnd = std::bind(distribution, generator);
for (int loop = 0; loop < kNLoops; loop++) { for (int loop = 0; loop < kNLoops; loop++) {
for (int i = 0; i < q.size(); i++) { for (int i = 0; i < q.size(); i++) {
q(i) = rnd(); q(i) = b3RandRange(-B3_PI, B3_PI);
u(i) = rnd(); u(i) = b3RandRange(-B3_PI, B3_PI);
dot_u(i) = rnd(); dot_u(i) = b3RandRange(-B3_PI, B3_PI);
} }
double pos_error; double pos_error;
@ -108,8 +107,8 @@ TEST(InvDynCompare, bulletUrdfR2D2) {
} }
int main(int argc, char **argv) { int main(int argc, char **argv) {
gflags::SetUsageMessage("Usage: invdyn_from_btmultibody -verbose = true/false"); b3CommandLineArgs myArgs(argc,argv);
gflags::ParseCommandLineFlags(&argc, &argv, false); FLAGS_verbose = myArgs.CheckCmdLineFlag("verbose");
::testing::InitGoogleTest(&argc, argv); ::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS(); return RUN_ALL_TESTS();
} }