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BUILD.bazel
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BUILD.bazel
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load("//tools/lint:lint.bzl", "add_lint_tests")
load(
"//tools/skylark:drake_cc.bzl",
"drake_cc_googletest",
"drake_cc_library",
"drake_cc_package_library",
)
# Because there are no meaninfully distinct components in this package, the
# only public target we will offer is our drake_cc_package_library.
package(default_visibility = ["//visibility:private"])
drake_cc_package_library(
name = "kuka_iiwa_robot",
visibility = ["//visibility:public"],
deps = [
":make_kuka_iiwa_model",
],
)
drake_cc_library(
name = "drake_kuka_iiwa_robot",
testonly = 1,
srcs = [
"drake_kuka_iiwa_robot.cc",
],
hdrs = [
"drake_kuka_iiwa_robot.h",
],
deps = [
":make_kuka_iiwa_model",
"//common:default_scalars",
"//math:geometric_transform",
"//multibody/plant",
"//multibody/test_utilities:spatial_kinematics",
"//multibody/tree",
],
)
drake_cc_library(
name = "make_kuka_iiwa_model",
srcs = [
"make_kuka_iiwa_model.cc",
],
hdrs = [
"make_kuka_iiwa_model.h",
],
deps = [
"//common:default_scalars",
"//math:geometric_transform",
"//multibody/tree",
],
)
# === test/ ===
drake_cc_googletest(
name = "kuka_iiwa_robot_kinematics_test",
deps = [
":drake_kuka_iiwa_robot",
"//multibody/benchmarks/kuka_iiwa_robot/MG:MG_kuka_robot_lib",
],
)
drake_cc_googletest(
name = "kuka_iiwa_robot_inverse_dynamics_test",
deps = [
":drake_kuka_iiwa_robot",
"//multibody/benchmarks/kuka_iiwa_robot/MG:MG_kuka_robot_lib",
],
)
add_lint_tests(enable_clang_format_lint = False)