Fixed external forces addInSegmentReferenceFrame for segment not being the first #108
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: Run the Casadi tests | |
| on: [pull_request] | |
| env: | |
| BUILD_FOLDER: build | |
| EXAMPLES_FOLDER: examples | |
| jobs: | |
| build: | |
| strategy: | |
| matrix: | |
| include: | |
| - os: ubuntu-20.04 | |
| label: linux-64 | |
| prefix: /usr/share/miniconda3/envs/biorbd_casadi | |
| - os: macos-latest | |
| label: osx-64 | |
| prefix: /Users/runner/miniconda3/envs/biorbd_casadi | |
| - os: windows-latest | |
| label: win-64 | |
| prefix: C:\Miniconda3\envs\biorbd_casadi | |
| name: ${{ matrix.label }} | |
| runs-on: ${{ matrix.os }} | |
| defaults: | |
| run: | |
| shell: bash -l {0} | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - name: Get number of CPU cores | |
| uses: SimenB/github-actions-cpu-cores@v1 | |
| id: cpu-cores | |
| - name: Setup environment | |
| uses: conda-incubator/setup-miniconda@v2 | |
| with: | |
| miniforge-variant: Mambaforge | |
| miniforge-version: latest | |
| use-mamba: true | |
| activate-environment: biorbd_casadi | |
| environment-file: environment_casadi.yml | |
| - name: Print mamba info | |
| run: | | |
| mamba config --show | |
| mamba info | |
| mamba list | |
| - name: Setup Linux dependencies | |
| run: | | |
| sudo apt update | |
| sudo apt install libstdc++-11-dev | |
| if: matrix.label == 'linux-64' | |
| - name: Install extra common dependencies | |
| run: | | |
| mamba install cmake git pkgconfig swig pytest -cconda-forge | |
| mamba list | |
| git submodule update --init --recursive | |
| - name: Build biorbd UNIX | |
| run: | | |
| BIORBD_FOLDER=`pwd` | |
| CONDA_ENV_PATH=$CONDA/envs/biorbd_casadi | |
| mkdir -p $BIORBD_FOLDER/$BUILD_FOLDER | |
| cd $BIORBD_FOLDER/$BUILD_FOLDER | |
| cmake -DCMAKE_INSTALL_PREFIX=$CONDA_ENV_PATH -DMATH_LIBRARY_BACKEND="Casadi" -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DMODULE_ACTUATORS=ON -DMODULE_KALMAN=ON -DMODULE_MUSCLES=ON -DBUILD_EXAMPLE=ON -DBINDER_PYTHON3=ON .. | |
| make install -j${{ steps.cpu-cores.outputs.count }} | |
| cd $BIORBD_FOLDER | |
| if: matrix.label != 'win-64' | |
| - name: Run tests UNIX | |
| run: | | |
| BIORBD_FOLDER=`pwd` | |
| cd $BIORBD_FOLDER/$BUILD_FOLDER/test | |
| ./biorbd_casadi_tests | |
| cd $BIORBD_FOLDER | |
| if: matrix.label != 'win-64' | |
| - name: Test installed version on UNIX | |
| run: | | |
| BIORBD_FOLDER=`pwd` | |
| CONDA_ENV_PATH=$CONDA/envs/biorbd_casadi | |
| cd $BIORBD_FOLDER/$EXAMPLES_FOLDER/cpp_casadi_installed | |
| mkdir -p $BUILD_FOLDER | |
| cd $BUILD_FOLDER | |
| cmake -DCMAKE_INSTALL_PREFIX=$CONDA_ENV_PATH -DCMAKE_BUILD_TYPE=Release .. | |
| make -j${{ steps.cpu-cores.outputs.count }} | |
| ./forwardDynamicsExample | |
| cd $BIORBD_FOLDER | |
| if: matrix.label != 'win-64' | |
| - name: Build biorbd WINDOWS | |
| run: | | |
| BIORBD_FOLDER=`pwd` | |
| CONDA_ENV_PATH=$CONDA/envs/biorbd_casadi | |
| mkdir -p $BUILD_FOLDER | |
| cd $BUILD_FOLDER | |
| cmake -G"Visual Studio 17 2022" -Ax64 -DCMAKE_INSTALL_PREFIX=$CONDA_ENV_PATH -DMATH_LIBRARY_BACKEND="Casadi" -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DMODULE_ACTUATORS=ON -DMODULE_PASSIVE_TORQUES=ON -DMODULE_KALMAN=ON -DMODULE_MUSCLES=ON -DBUILD_EXAMPLE=ON -DBINDER_PYTHON3=ON .. | |
| cmake --build . --config Release --target install -j${{ steps.cpu-cores.outputs.count }} | |
| cd $BIORBD_FOLDER | |
| if: matrix.label == 'win-64' | |
| - name: Run tests WINDOWS | |
| run: | | |
| BIORBD_FOLDER=`pwd` | |
| cd $BIORBD_FOLDER/$BUILD_FOLDER/test | |
| cp Release/biorbd_casadi_tests.exe . | |
| ./biorbd_casadi_tests.exe | |
| cd $BIORBD_FOLDER | |
| if: matrix.label == 'win-64' | |
| - name: Test installed version on WINDOWS | |
| run: | | |
| BIORBD_FOLDER=`pwd` | |
| CONDA_ENV_PATH=$CONDA/envs/biorbd_casadi | |
| cd $BIORBD_FOLDER/$EXAMPLES_FOLDER/cpp_casadi_installed | |
| mkdir -p $BUILD_FOLDER | |
| cd $BUILD_FOLDER | |
| cmake -G"Visual Studio 17 2022" -Ax64 -DCMAKE_INSTALL_PREFIX=$CONDA_ENV_PATH -DCMAKE_BUILD_TYPE=Release .. | |
| cmake --build . --config Release -j${{ steps.cpu-cores.outputs.count }} | |
| cp Release/forwardDynamicsExample.exe . | |
| ./forwardDynamicsExample.exe | |
| cd $BIORBD_FOLDER | |
| if: matrix.label == 'win-64' | |
| - name: Run python binder tests | |
| run: | | |
| BIORBD_FOLDER=`pwd` | |
| cd $BIORBD_FOLDER/$BUILD_FOLDER/test/binding/Python3 | |
| pytest . | |
| cd $BIORBD_FOLDER | |
| - name: Test installed version of python | |
| run: | | |
| BIORBD_FOLDER=`pwd` | |
| cd | |
| python -c "import biorbd_casadi" | |
| cd $BIORBD_FOLDER |