Use own build script for gtest

CHANGELOG.md

@@ -77,7 +77,9 @@
   * Defined optional dependencies: [#376](https://github.com/personalrobotics/aikido/pull/376)
   * Fixed compilation bug with Eigen 3.3.5: [#452](https://github.com/personalrobotics/aikido/pull/452)
   * Updated gtest version to 1.8.1: [#478](https://github.com/personalrobotics/aikido/pull/478)
+  * Added DART 6.7 support: [#480](https://github.com/personalrobotics/aikido/pull/480)
   * Fixed use of dart::common::make_unique for C++14 enabled compilers: [#481](https://github.com/personalrobotics/aikido/pull/481)
+  * Changed to use own build script for GoogleTest: [#485](https://github.com/personalrobotics/aikido/pull/485)
 
 ### 0.2.0 (2018-01-09)
 

CMakeLists.txt

@@ -101,21 +101,6 @@ macro(aikido_check_package variable component dependency)
   endif()
 endmacro()
 
-#==============================================================================
-# Register an Aikido test.
-#
-set_property(GLOBAL PROPERTY AIKIDO_TESTS)
-
-function(aikido_add_test target_name)
-  add_executable("${target_name}" ${ARGN})
-  add_test("${target_name}" "${target_name}")
-
-  target_link_libraries("${target_name}" gtest gtest_main)
-
-  set_property(GLOBAL APPEND PROPERTY AIKIDO_TESTS "${target_name}")
-  format_add_sources(${ARGN})
-endfunction()
-
 #==============================================================================
 # Required Dependencies
 #
@@ -126,7 +111,7 @@ include(FindPkgConfig)
 
 find_package(Boost REQUIRED COMPONENTS filesystem)
 
-find_package(DART 6.6.0 REQUIRED
+find_package(DART 6.6.2 REQUIRED
   COMPONENTS optimizer-nlopt utils
   OPTIONAL_COMPONENTS utils-urdf # for 'perception' target
   CONFIG

src/planner/World.cpp

@@ -38,7 +38,11 @@ std::unique_ptr<World> World::clone(const std::string& newName) const
   worldClone->mSkeletons.reserve(mSkeletons.size());
   for (std::size_t i = 0; i < mSkeletons.size(); ++i)
   {
+#if DART_VERSION_AT_LEAST(6,7,0)
+    const auto clonedSkeleton = mSkeletons[i]->cloneSkeleton();
+#else
     const auto clonedSkeleton = mSkeletons[i]->clone();
+#endif
     clonedSkeleton->setConfiguration(mSkeletons[i]->getConfiguration());
     worldClone->addSkeleton(std::move(clonedSkeleton));
   }

tests/CMakeLists.txt

@@ -1,5 +1,26 @@
-# GTest setup.
-add_subdirectory(gtest)
+# GTest setup
+add_library(gtest STATIC "${CMAKE_CURRENT_SOURCE_DIR}/gtest/src/gtest-all.cc")
+target_include_directories(gtest SYSTEM BEFORE
+  PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/gtest/include"
+  PRIVATE "${CMAKE_CURRENT_SOURCE_DIR}/gtest"
+)
+if(NOT WIN32)
+  target_link_libraries(gtest PUBLIC pthread)
+endif()
+add_library(gtest_main STATIC gtest/src/gtest_main.cc)
+target_link_libraries(gtest_main PUBLIC gtest)
+
+# Define aikido_add_test for registering Aikido tests.
+set_property(GLOBAL PROPERTY AIKIDO_TESTS)
+function(aikido_add_test target_name)
+  add_executable("${target_name}" ${ARGN})
+  add_test("${target_name}" "${target_name}")
+
+  target_link_libraries("${target_name}" gtest gtest_main)
+
+  set_property(GLOBAL APPEND PROPERTY AIKIDO_TESTS "${target_name}")
+  format_add_sources(${ARGN})
+endfunction()
 
 # Add helper scripts to the include path.
 include_directories("${CMAKE_CURRENT_SOURCE_DIR}")

tests/gtest/CMakeLists.txt

@@ -108,7 +108,7 @@ endif()
 set(gtest_build_include_dirs
   "${gtest_SOURCE_DIR}/include"
   "${gtest_SOURCE_DIR}")
-include_directories(SYSTEM ${gtest_build_include_dirs})
+include_directories(${gtest_build_include_dirs})
 
 # Summary of tuple support for Microsoft Visual Studio:
 # Compiler    version(MS)  version(cmake)  Support

tests/statespace/dart/test_MetaSkeletonStateSpace.cpp

@@ -98,12 +98,20 @@ TEST(MetaSkeletonStateSpace, RevoluteJoint_CompatibleSkeletons)
       withBoundSpace.checkCompatibility(withoutBound.get()),
       std::invalid_argument);
 
+#if DART_VERSION_AT_LEAST(6,7,0)
+  auto withoutBoundClone = withoutBound->cloneSkeleton();
+#else
   auto withoutBoundClone = withoutBound->clone();
+#endif
   EXPECT_TRUE(withoutBoundSpace.isCompatible(withoutBoundClone.get()));
   EXPECT_NO_THROW(
       withoutBoundSpace.checkCompatibility(withoutBoundClone.get()));
 
+#if DART_VERSION_AT_LEAST(6,7,0)
+  auto withBoundClone = withBound->cloneSkeleton();
+#else
   auto withBoundClone = withBound->clone();
+#endif
   EXPECT_TRUE(withBoundSpace.isCompatible(withBoundClone.get()));
   EXPECT_NO_THROW(withBoundSpace.checkCompatibility(withBoundClone.get()));
 

tests/statespace/test_CartesianProduct.cpp

@@ -20,7 +20,11 @@ TEST(CartesianProduct, Clone)
   for (auto i = 0u; i < 5u; ++i)
   {
     auto s1 = space.createState();
+#if DART_VERSION_AT_LEAST(6,7,0)
+    const auto angle = dart::math::Random::uniform(-M_PI, M_PI);
+#else
     const auto angle = dart::math::random(-M_PI, M_PI);
+#endif
     s1.getSubStateHandle<SO2>(0).fromAngle(angle);
     s1.getSubStateHandle<R2>(1).setValue(Eigen::Vector2d::Random());
 

tests/statespace/test_SE2.cpp

@@ -10,7 +10,11 @@ TEST(SE2, Clone)
 
   for (auto i = 0u; i < 5u; ++i)
   {
+#if DART_VERSION_AT_LEAST(6,7,0)
+    const auto angle = dart::math::Random::uniform(-M_PI, M_PI);
+#else
     const auto angle = dart::math::random(-M_PI, M_PI);
+#endif
     Eigen::Isometry2d pose = Eigen::Isometry2d::Identity();
     pose.rotate(Eigen::Rotation2Dd(angle));
     pose.translation() = Eigen::Vector2d::Random();

tests/statespace/test_SE3.cpp

@@ -12,7 +12,11 @@ TEST(SE3, Clone)
   for (auto i = 0u; i < 5u; ++i)
   {
     Eigen::Isometry3d pose = Eigen::Isometry3d::Identity();
+#if DART_VERSION_AT_LEAST(6,7,0)
+    const auto angle = dart::math::Random::uniform(-M_PI, M_PI);
+#else
     const auto angle = dart::math::random(-M_PI, M_PI);
+#endif
     const auto axis = Eigen::Vector3d::Random().normalized();
     const auto angleAxis = Eigen::AngleAxisd(angle, axis);
     pose.linear() = angleAxis.toRotationMatrix();

tests/statespace/test_SO2.cpp

@@ -33,7 +33,11 @@ TEST(SO2, Clone)
 
   for (auto i = 0u; i < 5u; ++i)
   {
+#if DART_VERSION_AT_LEAST(6,7,0)
+    const auto angle = dart::math::Random::uniform(-M_PI, M_PI);
+#else
     const auto angle = dart::math::random(-M_PI, M_PI);
+#endif
 
     auto s1 = so2.createState();
     s1.fromAngle(angle);

tests/statespace/test_SO3.cpp

@@ -10,7 +10,11 @@ TEST(SO3, Clone)
 
   for (auto i = 0u; i < 5u; ++i)
   {
+#if DART_VERSION_AT_LEAST(6,7,0)
+    const auto angle = dart::math::Random::uniform(-M_PI, M_PI);
+#else
     const auto angle = dart::math::random(-M_PI, M_PI);
+#endif
     const auto axis = Eigen::Vector3d::Random().normalized();
     const auto angleAxis = Eigen::AngleAxisd(angle, axis);
     const Eigen::Quaterniond quat(angleAxis);