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Topic/state integrator #70

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e8b526d
[State-Integrator] First draft of the integrator
Aug 19, 2019
40053dc
[Device] Change name of the control type enum to use it with device
Aug 20, 2019
88f130e
[Device] Add a unit test for state integrator
Aug 20, 2019
7d120b4
[Device] Adding boost::bind to the signals SOUT_ - remove controlTypeSIN
Aug 23, 2019
76f1f65
[State-integrator] Separate integrate function in 2: for joints or fr…
Sep 3, 2019
8f80cdf
[State-integration] Format files with google style
Sep 3, 2019
0c55661
[State-integrator] Change controlTypeVector values to SoTControlType
Sep 3, 2019
10574c4
[State-integrator] Change name device to generic-device
Nov 5, 2019
2a77498
Merge remote-tracking branch 'origin/devel' into topic/state-integrator
May 11, 2020
e8899ee
Merge remote-tracking branch 'origin/devel' into topic/state-integrator
May 25, 2020
f0fd010
Merge branch 'devel' into topic/state-integrator
Jul 31, 2020
63b76ee
[State-integrator] Remove absolute urdf path in test
Jul 31, 2020
ec6d944
Update tests/test_state_integrator.cpp
NoelieRamuzat Aug 4, 2020
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38 changes: 29 additions & 9 deletions tests/test_state_integrator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,8 @@

using namespace std;
#include <boost/test/unit_test.hpp>
#include <boost/algorithm/string.hpp>
#include <boost/filesystem.hpp>
#include <dynamic-graph/factory.h>
#include <dynamic-graph/entity.h>
#include <sot/core/matrix-geometry.hh>
Expand Down Expand Up @@ -49,17 +51,35 @@ BOOST_AUTO_TEST_CASE(test_state_integrator) {

unsigned int debug_mode = 2;

std::string robot_description;
ifstream urdfFile;
std::string filename = "/opt/openrobots/share/simple_humanoid_description/urdf/simple_humanoid.urdf";
urdfFile.open(filename.c_str());
if (!urdfFile.is_open()) {
std::cerr << "Unable to open " << filename << std::endl;
BOOST_CHECK(false);
return;
// 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 simple_humanoid.urdf
string filename="";
for (auto test_path : paths)
{
filename = test_path +
string("/share/simple_humanoid_description/urdf/simple_humanoid.urdf");
if ( boost::filesystem::exists(filename))
break;
}
stringstream strStream;

// If not found fails
if (filename.size()==0)
{
cerr << "Unable to find simple_humanoid.urdf" << endl;
exit(-1);
}

// Otherwise read the file
ifstream urdfFile(filename);
ostringstream strStream;
strStream << urdfFile.rdbuf();
std::string robot_description;
robot_description = strStream.str();

/// Test reading the URDF file.
Expand Down