text stringlengths 0 120 |
|---|
find_gtest() |
macro(add_gtest test_name test_file) |
add_executable(${test_name} ${test_file}) |
target_compile_options(${test_name} PRIVATE ${TRAJOPT_COMPILE_OPTIONS_PRIVATE} ${TRAJOPT_COMPILE_OPTIONS_PUBLIC}) |
target_compile_definitions(${test_name} PRIVATE ${TRAJOPT_COMPILE_DEFINITIONS}) |
target_cxx_version(${test_name} PRIVATE VERSION ${TRAJOPT_CXX_VERSION}) |
target_clang_tidy(${test_name} ENABLE ${TRAJOPT_ENABLE_CLANG_TIDY}) |
target_link_libraries( |
${test_name} |
${PROJECT_NAME} |
GTest::GTest |
GTest::Main |
Boost::boost) |
target_include_directories(${test_name} PRIVATE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>" |
${GTEST_INCLUDE_DIRS}) |
add_gtest_discover_tests(${test_name}) |
add_dependencies(${test_name} ${PROJECT_NAME}) |
add_dependencies(run_tests ${test_name}) |
endmacro() |
add_gtest(${PROJECT_NAME}_planning_unit planning_unit.cpp) |
add_gtest(${PROJECT_NAME}_numerical_ik_unit numerical_ik_unit.cpp) |
# add_gtest(${PROJECT_NAME}_interface_unit interface_unit.cpp) |
add_gtest(${PROJECT_NAME}_joint_costs_unit joint_costs_unit.cpp) |
add_gtest(${PROJECT_NAME}_kinematic_costs_unit kinematic_costs_unit.cpp) |
add_gtest(${PROJECT_NAME}_cast_cost_unit cast_cost_unit.cpp) |
add_gtest(${PROJECT_NAME}_cast_cost_world_unit cast_cost_world_unit.cpp) |
add_gtest(${PROJECT_NAME}_cast_cost_attached_unit cast_cost_attached_unit.cpp) |
add_gtest(${PROJECT_NAME}_cast_cost_octomap_unit cast_cost_octomap_unit.cpp) |
add_gtest(${PROJECT_NAME}_simple_collision_unit simple_collision_unit.cpp) |
add_gtest(${PROJECT_NAME}_cart_position_optimization_unit cart_position_optimization_unit.cpp) |
# This is for comparison and should be moved to trajopt |
# add_executable(${PROJECT_NAME}_cart_position_optimization_trajopt_sco_unit |
# cart_position_optimization_trajopt_sco_unit.cpp) |
# target_compile_options(${PROJECT_NAME}_cart_position_optimization_trajopt_sco_unit PRIVATE |
# ${TRAJOPT_COMPILE_OPTIONS_PRIVATE} ${TRAJOPT_COMPILE_OPTIONS_PUBLIC}) |
# target_compile_definitions(${PROJECT_NAME}_cart_position_optimization_trajopt_sco_unit PRIVATE |
# ${TRAJOPT_COMPILE_DEFINITIONS} TRAJOPT_IFOPT_DIR="${CMAKE_SOURCE_DIR}") |
# target_cxx_version(${PROJECT_NAME}_cart_position_optimization_trajopt_sco_unit PRIVATE VERSION ${TRAJOPT_CXX_VERSION}) |
# target_clang_tidy(${PROJECT_NAME}_cart_position_optimization_trajopt_sco_unit ENABLE ${TRAJOPT_ENABLE_CLANG_TIDY}) |
# target_link_libraries( ${PROJECT_NAME}_cart_position_optimization_trajopt_sco_unit ${PROJECT_NAME} console_bridge |
# ifopt::ifopt_ipopt trajopt::trajopt_ifopt trajopt::trajopt_test_data trajopt::trajopt GTest::GTest GTest::Main) |
# target_include_directories(${PROJECT_NAME}_cart_position_optimization_trajopt_sco_unit PRIVATE |
# "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>" ${GTEST_INCLUDE_DIRS}) |
# target_include_directories(${PROJECT_NAME}_cart_position_optimization_trajopt_sco_unit SYSTEM PRIVATE |
# ${PCL_INCLUDE_DIRS}) add_gtest_discover_tests(${PROJECT_NAME}_cart_position_optimization_trajopt_sco_unit) |
# add_dependencies(${PROJECT_NAME}_cart_position_optimization_trajopt_sco_unit ${PROJECT_NAME}) |
# add_dependencies(run_tests ${PROJECT_NAME}_cart_position_optimization_trajopt_sco_unit) |
find_package(benchmark REQUIRED) |
find_package(osqp REQUIRED) |
macro(add_benchmark benchmark_name benchmark_file) |
add_executable(${benchmark_name} ${benchmark_file}) |
target_compile_options(${benchmark_name} PRIVATE ${TRAJOPT_COMPILE_OPTIONS_PRIVATE} ${TRAJOPT_COMPILE_OPTIONS_PUBLIC}) |
target_compile_definitions(${benchmark_name} PRIVATE ${TRAJOPT_COMPILE_DEFINITIONS}) |
target_cxx_version(${benchmark_name} PRIVATE VERSION ${TRAJOPT_CXX_VERSION}) |
target_clang_tidy(${benchmark_name} ENABLE ${TRAJOPT_ENABLE_CLANG_TIDY}) |
target_link_libraries( |
${benchmark_name} |
${PROJECT_NAME} |
osqp::osqp |
benchmark::benchmark) |
target_include_directories(${benchmark_name} PRIVATE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>") |
add_dependencies(${benchmark_name} ${PROJECT_NAME}) |
if(TRAJOPT_ENABLE_RUN_BENCHMARKING) |
message(STATUS "Running benchmark ${benchmark_name}") |
add_run_benchmark_target(${benchmark_name}) |
endif() |
endmacro() |
add_benchmark(${PROJECT_NAME}_joint_term_benchmarks joint_term_benchmarks.cpp) |
add_benchmark(${PROJECT_NAME}_solve_benchmarks solve_benchmarks.cpp) |
find_gtest() |
# TrajOpt Common YAML Unit tests |
add_executable(${PROJECT_NAME}_yaml_unit trajopt_common_yaml_conversions_tests.cpp) |
target_link_libraries(${PROJECT_NAME}_yaml_unit PRIVATE GTest::GTest GTest::Main ${PROJECT_NAME}) |
target_compile_options(${PROJECT_NAME}_yaml_unit PRIVATE ${TRAJOPT_COMPILE_OPTIONS_PRIVATE} |
${TRAJOPT_COMPILE_OPTIONS_PUBLIC}) |
target_compile_definitions(${PROJECT_NAME}_yaml_unit PRIVATE ${TRAJOPT_COMPILE_DEFINITIONS}) |
target_clang_tidy(${PROJECT_NAME}_yaml_unit ENABLE ${TRAJOPT_ENABLE_CLANG_TIDY}) |
target_cxx_version(${PROJECT_NAME}_yaml_unit PRIVATE VERSION ${TRAJOPT_CXX_VERSION}) |
target_code_coverage( |
${PROJECT_NAME}_yaml_unit |
PRIVATE |
ALL |
EXCLUDE ${COVERAGE_EXCLUDE} |
ENABLE ${TRAJOPT_ENABLE_CODE_COVERAGE}) |
add_gtest_discover_tests(${PROJECT_NAME}_yaml_unit) |
add_dependencies(${PROJECT_NAME}_yaml_unit ${PROJECT_NAME}) |
add_dependencies(run_tests ${PROJECT_NAME}_yaml_unit) |
# TrajOpt Common Cache Unit tests |
add_executable(${PROJECT_NAME}_cache_unit trajopt_common_cache_tests.cpp) |
target_link_libraries(${PROJECT_NAME}_cache_unit PRIVATE GTest::GTest GTest::Main ${PROJECT_NAME}) |
target_compile_options(${PROJECT_NAME}_cache_unit PRIVATE ${TRAJOPT_COMPILE_OPTIONS_PRIVATE} |
${TRAJOPT_COMPILE_OPTIONS_PUBLIC}) |
target_compile_definitions(${PROJECT_NAME}_cache_unit PRIVATE ${TRAJOPT_COMPILE_DEFINITIONS}) |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.