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BUILD.bazel
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BUILD.bazel
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load(
"@drake//tools/skylark:drake_cc.bzl",
"drake_cc_binary",
"drake_cc_googletest",
"drake_cc_library",
)
load("//tools/lint:lint.bzl", "add_lint_tests")
load(
"@drake//tools/vector_gen:vector_gen.bzl",
"drake_cc_vector_gen_library",
)
package(default_visibility = ["//visibility:private"])
drake_cc_vector_gen_library(
name = "rimless_wheel_vector_types",
srcs = [
"rimless_wheel_continuous_state_named_vector.yaml",
"rimless_wheel_params_named_vector.yaml",
],
visibility = ["//visibility:public"],
)
drake_cc_library(
name = "rimless_wheel",
srcs = ["rimless_wheel.cc"],
hdrs = [
"rimless_wheel.h",
],
visibility = ["//visibility:public"],
deps = [
":rimless_wheel_vector_types",
"//common:default_scalars",
"//common:essential",
"//systems/framework:leaf_system",
],
)
drake_cc_library(
name = "rimless_wheel_geometry",
srcs = ["rimless_wheel_geometry.cc"],
hdrs = ["rimless_wheel_geometry.h"],
visibility = ["//visibility:public"],
deps = [
":rimless_wheel",
"//geometry:geometry_roles",
"//geometry:scene_graph",
"//math:geometric_transform",
"//systems/framework:diagram_builder",
"//systems/framework:leaf_system",
],
)
drake_cc_binary(
name = "simulate",
srcs = ["simulate.cc"],
add_test_rule = 1,
test_rule_args = ["--target_realtime_rate=0.0"],
deps = [
":rimless_wheel",
":rimless_wheel_geometry",
"//geometry:drake_visualizer",
"//systems/analysis:simulator",
"//systems/framework:diagram_builder",
"@gflags",
],
)
drake_cc_googletest(
name = "rimless_wheel_test",
deps = [
":rimless_wheel",
"//systems/analysis:simulator",
"//systems/framework/test_utilities:scalar_conversion",
],
)
drake_cc_googletest(
name = "rimless_wheel_geometry_test",
deps = [
":rimless_wheel",
":rimless_wheel_geometry",
],
)
add_lint_tests(enable_clang_format_lint = False)