Use cmake options for including optional solvers and robot models,

Move test case to subfolders for easier cmake structure

CMakeLists.txt

@@ -7,11 +7,19 @@ set(PROJECT_VERSION 0.2)
 set(API_VERSION ${PROJECT_VERSION})
 
 list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
+
+option(ROBOT_MODEL_PINOCCHIO "Build the Pinocchio-based robot model" OFF)
+option(ROBOT_MODEL_KDL "Build the KDL-based robot model" OFF)
+option(ROBOT_MODEL_HYRODYN "Build the HyRoDyn-based robot model" OFF)
+option(SOLVER_PROXQP "Build the ProxQP-based solver" OFF)
+option(SOLVER_EIQUADPROG "Build the Eiquadprog-based solver" OFF)
+option(SOLVER_QPSWIFT "Build the QPSwift-based solver" OFF)
+
 add_subdirectory(src)
-add_subdirectory(test)
 add_subdirectory(tutorials)
 
 find_package(Doxygen)
+
 if(DOXYGEN_FOUND)
     set(doxyfile_in ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile)
     set(doxyfile ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)

scripts/full_install.sh

@@ -91,6 +91,7 @@ make -j8 && sudo make install && cd ../..
 
 # WBC
 mkdir wbc/build && cd wbc/build
-cmake .. -DUSE_EIQUADPROG=1 -DUSE_KDL=1 -DUSE_PINOCCHIO=1 -DUSE_QPSWIFT=1 -DUSE_PROXQP=1
-make -j8 && sudo make install && cd ../..
+cmake .. -DROBOT_MODEL_PINOCCHIO=ON -DROBOT_MODEL_KDL=ON -DSOLVER_PROXQP=ON -DSOLVER_EIQUADPROG=ON -DSOLVER_QPSWIFT=ON -DCMAKE_BUILD_TYPE=RELEASE
+make -j8 && sudo make install && cd ..
+
 sudo ldconfig

scripts/install.sh

@@ -44,6 +44,6 @@ cmake .. && make -j8 && sudo make install && cd ../..
 
 # WBC
 mkdir wbc/build && cd wbc/build
-cmake ..
+cmake .. -DCMAKE_BUILD_TYPE=RELEASE
 make -j8 && sudo make install
 sudo ldconfig

scripts/run_tests.sh

@@ -1,77 +1,99 @@
 # Controllers
 echo "Testing controllers ..."
-cd build/test/controllers
+cd build/src
+cd controllers/test
 ./test_pid_controllers
 ./test_pos_pd_controllers
 ./test_pot_field_controllers
+cd ../..
 
 # Core
 echo "Testing core library ..."
-cd ../core
+cd core/test
 ./test_core
+cd ../..
 
 # Robot Models
 echo "Testing robot models ..."
 echo "Testing RobotModelRBDL ..."
-cd ../robot_models/rbdl
+cd robot_models/rbdl/test
 ./test_robot_model_rbdl
-cd ..
+cd ../..
 if [ -d "kdl" ]; then
   echo "Testing RobotModelKDL ..."
-  cd kdl
+  cd kdl/test
   ./test_robot_model_kdl
-  cd ..
+  cd ../..
 fi
 if [ -d "pinocchio" ]; then
   echo "Testing RobotModelPinocchio ..."
-  cd ../robot_models/pinocchio
+  cd pinocchio/test
   ./test_robot_model_pinocchio
-  cd ..
+  cd ../..
 fi
 if [ -d "hyrodyn" ]; then
   echo "Testing RobotModelHyrodyn ..."
-  cd hyrodyn
+  cd hyrodyn/test
   ./test_robot_model_hyrodyn
-  cd ..
+  cd ../..
 fi
+cd ..
 
 # Scenes
 echo "Testing scenes ..."
-cd ../scenes
+
 echo "Testing VelocityScene ..."
+cd scenes/velocity/test
 ./test_velocity_scene
+cd ../..
+
 echo "Testing VelocitySceneQuadraticCost ..."
+cd velocity_qp/test
 ./test_velocity_scene_quadratic_cost
+cd ../..
+
+
 echo "Testing AccelerationScene ..."
+cd acceleration/test
 ./test_acceleration_scene
+cd ../..
+
 echo "Testing AccelerationSceneTSID ..."
+cd acceleration_tsid/test
 ./test_acceleration_scene_tsid
+cd ../..
+
 echo "Testing AccelerationSceneReducedTSID ..."
+cd acceleration_reduced_tsid/test
 ./test_acceleration_scene_reduced_tsid
+cd ../../..
 
 # Solvers
 echo "Testing hls ..."
-cd ../solvers/hls 
+cd solvers/hls/test
 ./test_hls_solver  
+cd ../..
+
 echo "Testing QPOasesSolver ..."
-cd ../qpoases
+cd qpoases/test
 ./test_qpoases_solver
-cd ..
+cd ../..
 if [ -d "eiquadprog" ]; then
   echo "Testing EiquadprogSolver ..."
-  cd eiquadprog 
+  cd eiquadprog/test
   ./test_eiquadprog_solver
-  cd ..
+  cd ../..
 fi
 if [ -d "proxqp" ]; then
   echo "Testing ProxQPSolver ..."
-  cd proxqp
+  cd proxqp/test
   ./test_proxqp_solver
-  cd ..
+  cd ../..
 fi
 if [ -d "qpswift" ]; then
   echo "Testing QPSwiftSolver ..."
-  cd qpswift   
+  cd qpswift/test
   ./test_qpswift_solver
-  cd ../../..
+  cd ../..
 fi
+cd ..

src/controllers/CMakeLists.txt

@@ -20,3 +20,5 @@ install(TARGETS ${TARGET_NAME}
 CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/${TARGET_NAME}.pc.in ${CMAKE_CURRENT_BINARY_DIR}/${TARGET_NAME}.pc @ONLY)
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${TARGET_NAME}.pc DESTINATION lib/pkgconfig)
 INSTALL(FILES ${HEADERS} DESTINATION include/wbc/controllers)
+
+add_subdirectory(test)

test/controllers/CMakeLists.txt → src/controllers/test/CMakeLists.txt

@@ -1,15 +1,16 @@
-add_executable(test_pot_field_controllers test_pot_field_controllers.cpp ../suite.cpp)
+find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
+add_executable(test_pot_field_controllers test_pot_field_controllers.cpp)
 target_link_libraries(test_pot_field_controllers
                       wbc-controllers
                       Boost::unit_test_framework)
 
-add_executable(test_pos_pd_controllers test_pos_pd_controllers.cpp ../suite.cpp)
+add_executable(test_pos_pd_controllers test_pos_pd_controllers.cpp)
 target_link_libraries(test_pos_pd_controllers
                       wbc-controllers
                       Boost::unit_test_framework)
 
 
-add_executable(test_pid_controllers test_pid_controllers.cpp ../suite.cpp)
+add_executable(test_pid_controllers test_pid_controllers.cpp)
 target_link_libraries(test_pid_controllers
                       wbc-controllers
                       Boost::unit_test_framework)

test/controllers/test_pid_controllers.cpp → src/controllers/test/test_pid_controllers.cpp

@@ -1,7 +1,9 @@
+#define BOOST_TEST_DYN_LINK
+#define BOOST_TEST_MAIN
 #include <boost/test/unit_test.hpp>
 #include <iostream>
 
-#include "controllers/JointTorquePIDController.hpp"
+#include "../JointTorquePIDController.hpp"
 #include <base/samples//RigidBodyStateSE3.hpp>
 
 using namespace std;
@@ -86,4 +88,3 @@ BOOST_AUTO_TEST_CASE(joint_torque_controller_test){
         usleep(dt*1000*1000);
     }
 }
-

test/controllers/test_pos_pd_controllers.cpp → src/controllers/test/test_pos_pd_controllers.cpp

@@ -1,10 +1,12 @@
+#define BOOST_TEST_DYN_LINK
+#define BOOST_TEST_MAIN
 #include <boost/test/unit_test.hpp>
 #include <fstream>
 #include <iostream>
 
-#include "controllers/CartesianPosPDController.hpp"
-#include "controllers/JointPosPDController.hpp"
-#include <controllers/ControllerTools.hpp>
+#include "../CartesianPosPDController.hpp"
+#include "../JointPosPDController.hpp"
+#include "../ControllerTools.hpp"
 #include <base/samples/RigidBodyStateSE3.hpp>
 
 using namespace std;
@@ -176,4 +178,3 @@ BOOST_AUTO_TEST_CASE(jnt_pos_pd_controller){
         usleep(dt*1000*1000);
     }
 }
-

test/controllers/test_pot_field_controllers.cpp → src/controllers/test/test_pot_field_controllers.cpp

@@ -1,11 +1,13 @@
+#define BOOST_TEST_DYN_LINK
+#define BOOST_TEST_MAIN
 #include <boost/test/unit_test.hpp>
 #include <fstream>
 #include <iostream>
 
-#include "controllers/CartesianPotentialFieldsController.hpp"
-#include "controllers/RadialPotentialField.hpp"
-#include "controllers/PlanarPotentialField.hpp"
-#include "controllers/JointLimitAvoidanceController.hpp"
+#include "../CartesianPotentialFieldsController.hpp"
+#include "../RadialPotentialField.hpp"
+#include "../PlanarPotentialField.hpp"
+#include "../JointLimitAvoidanceController.hpp"
 
 using namespace std;
 using namespace ctrl_lib;
@@ -307,4 +309,3 @@ BOOST_AUTO_TEST_CASE(joint_limit_avoidance)
         usleep(dt*1000*1000);
     }
 }
-

src/core/CMakeLists.txt

@@ -21,3 +21,5 @@ install(TARGETS ${TARGET_NAME}
 CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/${TARGET_NAME}.pc.in ${CMAKE_CURRENT_BINARY_DIR}/${TARGET_NAME}.pc @ONLY)
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${TARGET_NAME}.pc DESTINATION lib/pkgconfig)
 INSTALL(FILES ${HEADERS} DESTINATION include/wbc/core)
+
+add_subdirectory(test)

src/core/test/CMakeLists.txt

@@ -0,0 +1,5 @@
+find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
+add_executable(test_core test_core.cpp)
+target_link_libraries(test_core
+                      wbc-core
+                      Boost::unit_test_framework)

test/core/test_core.cpp → src/core/test/test_core.cpp

@@ -1,3 +1,5 @@
+#define BOOST_TEST_DYN_LINK
+#define BOOST_TEST_MAIN
 #include <boost/test/unit_test.hpp>
 #include <core/TaskConfig.hpp>
 #include <core/PluginLoader.hpp>
@@ -110,4 +112,3 @@ BOOST_AUTO_TEST_CASE(scene_factory){
     BOOST_CHECK_NO_THROW(scene = SceneFactory::createInstance("velocity", robot_model, solver, 1e-3));
     BOOST_CHECK(scene != 0);
 }
-

src/robot_models/CMakeLists.txt

@@ -1,11 +1,11 @@
 add_subdirectory(rbdl)
-if(USE_PINOCCHIO)
+if(ROBOT_MODEL_PINOCCHIO)
     add_subdirectory(pinocchio)
 endif()
-if(USE_HYRODYN)
+if(ROBOT_MODEL_HYRODYN)
     add_subdirectory(hyrodyn)
 endif()
-if(USE_KDL)
+if(ROBOT_MODEL_KDL)
     add_subdirectory(kdl)
 endif()
 

src/robot_models/hyrodyn/CMakeLists.txt

@@ -24,3 +24,5 @@ install(TARGETS ${TARGET_NAME}
 CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/${TARGET_NAME}.pc.in ${CMAKE_CURRENT_BINARY_DIR}/${TARGET_NAME}.pc @ONLY)
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${TARGET_NAME}.pc DESTINATION lib/pkgconfig)
 INSTALL(FILES ${HEADERS} DESTINATION include/wbc/robot_models/hyrodyn)
+
+add_subdirectory(test)

test/robot_models/hyrodyn/CMakeLists.txt → src/robot_models/hyrodyn/test/CMakeLists.txt

@@ -1,5 +1,5 @@
-add_executable(test_robot_model_hyrodyn test_robot_model_hyrodyn.cpp ../../suite.cpp ../test_robot_model.cpp)
+find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
+add_executable(test_robot_model_hyrodyn test_robot_model_hyrodyn.cpp ../../test/test_robot_model.cpp)
 target_link_libraries(test_robot_model_hyrodyn
                       wbc-robot_models-hyrodyn
                       Boost::unit_test_framework)
-