stack-of-tasks · nim65s · Jul 13, 2018 · Jul 13, 2018 · Jul 13, 2018 · Jul 13, 2018
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
@@ -0,0 +1,53 @@
+variables:
+  GIT_SUBMODULE_STRATEGY: "recursive"
+  GIT_DEPTH: "3"
+  CCACHE_BASEDIR: "${CI_PROJECT_DIR}"
+  CCACHE_DIR: "${CI_PROJECT_DIR}/ccache"
+
+cache:
+  paths:
+    - ccache
+
+.robotpkg-py-dynamic-graph-tutorial: &robotpkg-py-dynamic-graph-tutorial
+  except:
+    - gh-pages
+  script:
+    - mkdir -p ccache
+    - cd /root/robotpkg/wip/py-dynamic-graph-tutorial
+    - git pull
+    - make checkout MASTER_REPOSITORY="dir ${CI_PROJECT_DIR}"
+    - make install
+    - cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
+    - make test
+
+robotpkg-py-dynamic-graph-tutorial-14.04-release:
+  <<: *robotpkg-py-dynamic-graph-tutorial
+  image: eur0c.laas.fr:5000/stack-of-tasks/dynamic-graph-tutorial/py-dynamic-graph-tutorial:14.04
+
+robotpkg-py-dynamic-graph-tutorial-16.04-release:
+  <<: *robotpkg-py-dynamic-graph-tutorial
+  image: eur0c.laas.fr:5000/stack-of-tasks/dynamic-graph-tutorial/py-dynamic-graph-tutorial:16.04
+
+robotpkg-py-dynamic-graph-tutorial-18.04-release:
+  <<: *robotpkg-py-dynamic-graph-tutorial
+  image: eur0c.laas.fr:5000/stack-of-tasks/dynamic-graph-tutorial/py-dynamic-graph-tutorial:18.04
+
+doc-coverage:
+  <<: *robotpkg-py-dynamic-graph-tutorial
+  image: eur0c.laas.fr:5000/stack-of-tasks/dynamic-graph-tutorial/py-dynamic-graph-tutorial:16.04
+  before_script:
+    - echo -e 'CXXFLAGS+= --coverage\nLDFLAGS+= --coverage\nPKG_DEFAULT_OPTIONS= debug' >> /opt/openrobots/etc/robotpkg.conf
+  after_script:
+    - cd /root/robotpkg/wip/py-dynamic-graph-tutorial
+    - cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
+    - make doc
+    - mv doc/doxygen-html ${CI_PROJECT_DIR}
+    - mkdir -p ${CI_PROJECT_DIR}/coverage/
+    - gcovr -r .
+    - gcovr -r . --html --html-details -o ${CI_PROJECT_DIR}/coverage/index.html
+  artifacts:
+    expire_in: 1 day
+    paths:
+      - doxygen-html/
+      - coverage/
+
diff --git a/AUTHORS b/AUTHORS
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,44 +1,41 @@
 #
-#  Copyright 2010 CNRS
+#  Copyright 2010, 2018 CNRS
 #  Author: Florent Lamiraux
 #
 
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
 
-SET (CXX_DISABLE_WERROR ON)
 INCLUDE(cmake/base.cmake)
 INCLUDE(cmake/boost.cmake)
-INCLUDE(cmake/lapack.cmake)
-INCLUDE(cmake/cpack.cmake)
+INCLUDE(cmake/test.cmake)
+INCLUDE(cmake/python.cmake)
 
 SET(PROJECT_NAME dynamic-graph-tutorial)
-project(${PROJECT_NAME})
-
 SET(PROJECT_DESCRIPTION "Tutorial for dynamic-graph")
-SET(PROJECT_URL "http://github.com/jrl-umi3218/dynamic-graph-tutorial")
 
-SET(${PROJECT_NAME}_HEADERS
-    include/dynamic-graph/tutorial/inverted-pendulum.hh
-    include/dynamic-graph/tutorial/feedback-controller.hh
-)
-#
-# Look for dependencies
-#
+SET(PROJECT_URL "http://github.com/stack-of-tasks/${PROJECT_NAME}")
 
 SETUP_PROJECT()
 
-#
-#  Documentation dependency to package dynamic-graph
-#
-
 ADD_REQUIRED_DEPENDENCY("dynamic-graph")
 
-#
-#  Dependency to package dynamic-graph-python
-#
-ADD_REQUIRED_DEPENDENCY("dynamic-graph-python")
+SET(BOOST_COMPONENTS unit_test_framework)
+
+OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" ON)
+IF(BUILD_PYTHON_INTERFACE)
+  ADD_REQUIRED_DEPENDENCY("dynamic-graph-python")
+  FINDPYTHON()
+  STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
+  SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
+  INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
+ENDIF(BUILD_PYTHON_INTERFACE)
+
+SEARCH_FOR_BOOST()
+INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
 
+ADD_SUBDIRECTORY(include/dynamic-graph/tutorial)
 ADD_SUBDIRECTORY(src)
 ADD_SUBDIRECTORY(doc)
+ADD_SUBDIRECTORY(tests)
 
 SETUP_PROJECT_FINALIZE()
diff --git a/COPYING b/COPYING
diff --git a/ChangeLog b/ChangeLog
diff --git a/INSTALL b/INSTALL
diff --git a/NEWS b/NEWS
diff --git a/README.md b/README.md
@@ -1,7 +1,12 @@
-[![License](https://img.shields.io/badge/License-BSD%202--Clause-orange.svg)](https://opensource.org/licenses/BSD-2-Clause)
 # dynamic-graph-tutorial
 
+[![License](https://img.shields.io/badge/License-BSD%202--Clause-orange.svg)](https://opensource.org/licenses/BSD-2-Clause)
+[![Building Status](https://travis-ci.org/stack-of-tasks/dynamic-graph-tutorial.svg?branch=master)](https://travis-ci.org/stack-of-tasks/dynamic-graph-tutorial)
+[![Pipeline status](https://gepgitlab.laas.fr/stack-of-tasks/dynamic-graph-tutorial/badges/master/pipeline.svg)](https://gepgitlab.laas.fr/stack-of-tasks/dynamic-graph-tutorial/commits/master)
+[![Coverage report](https://gepgitlab.laas.fr/stack-of-tasks/dynamic-graph-tutorial/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/stack-of-tasks/doc/stack-of-tasks/dynamic-graph-tutorial/master/coverage/)
+
+
 See INSTALL for installation instruction.
 
 The documentation is available here:
-[http://stack-of-tasks.github.io/dynamic-graph-tutorial/](http://stack-of-tasks.github.io/dynamic-graph-tutorial/)
+[http://stack-of-tasks.github.io/dynamic-graph-tutorial/](http://stack-of-tasks.github.io/dynamic-graph-tutorial/)
diff --git a/autogen.sh b/autogen.sh
diff --git a/dg-tutorial.pc.cmake b/dg-tutorial.pc.cmake
diff --git a/include/dynamic-graph/tutorial/CMakeLists.txt b/include/dynamic-graph/tutorial/CMakeLists.txt
@@ -0,0 +1,9 @@
+SET(${PROJECT_NAME}_HEADERS}
+  inverted-pendulum.hh
+  feedback-controller.hh
+  )
+
+INSTALL(FILES
+  ${${PROJECT_NAME}_HEADERS}
+  DESTINATION include/${PROJECT_NAME}
+  )
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -1,4 +1,4 @@
-# Copyright 2010, Florent Lamiraux, CNRS
+# Copyright 2010, 2018, Florent Lamiraux, CNRS
 #
 # This file is part of sot-core.
 # sot-core is free software: you can redistribute it and/or
@@ -13,33 +13,23 @@
 # received a copy of the GNU Lesser General Public License along with
 # dynamic-graph-tutorial. If not, see <http://www.gnu.org/licenses/>.
 
-# Libraries DEFINITIONS and INCLUDES
 
-INCLUDE(../cmake/python.cmake)
-
-SET(LIBRARY_NAME ${PROJECT_NAME})
-
-INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
-
-# provide path to dependency libraries
-LINK_DIRECTORIES(${DYNAMIC_GRAPH_PYTHON_LIBRARY_DIRS} ${PYTHON_LIBRARY_DIRS})
-
-ADD_LIBRARY(${LIBRARY_NAME}
-  SHARED
-  inverted-pendulum.cc
-  feedback-controller.cc
+SET(${PROJECT_NAME}_SOURCES
+  inverted-pendulum
+  feedback-controller
   )
 
-SET_TARGET_PROPERTIES(${LIBRARY_NAME}
-  PROPERTIES
-  SOVERSION ${PROJECT_VERSION}
-  INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/lib)
+SET(${PY_NAME}_PYTHON
+  simu.py
+  )
 
-# Add dynamic-graph-python compilation flags and link to dependency libraries
-PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} dynamic-graph-python)
+ADD_LIBRARY(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES})
+PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} dynamic-graph)
 
-INSTALL(TARGETS ${LIBRARY_NAME}
-  DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
+IF(BUILD_PYTHON_INTERFACE)
+  PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} dynamic-graph-python)
+  DYNAMIC_GRAPH_PYTHON_MODULE("tutorial" ${PROJECT_NAME} wrap)
+  INSTALL(FILES ${${PY_NAME}_PYTHON} DESTINATION "${PYTHON_SITELIB}/dynamic-graph/tutorial/")
+ENDIF(BUILD_PYTHON_INTERFACE)
 
-# Create a python module containing new Python entity classes
-DYNAMIC_GRAPH_PYTHON_MODULE("tutorial" ${LIBRARY_NAME} wrap)
+INSTALL(TARGETS ${PROJECT_NAME} DESTINATION lib)
diff --git a/src/feedback-controller.cc → src/feedback-controller.cpp b/src/feedback-controller.cc → src/feedback-controller.cpp
diff --git a/src/inverted-pendulum.cc → src/inverted-pendulum.cpp b/src/inverted-pendulum.cc → src/inverted-pendulum.cpp
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
@@ -0,0 +1,9 @@
+ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
+
+ADD_UNIT_TEST(pendulum pendulum)
+TARGET_LINK_LIBRARIES(pendulum ${PROJECT_NAME} ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
+PKG_CONFIG_USE_DEPENDENCY(pendulum dynamic-graph)
+
+ADD_UNIT_TEST(controller controller)
+TARGET_LINK_LIBRARIES(controller ${PROJECT_NAME} ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
+PKG_CONFIG_USE_DEPENDENCY(controller dynamic-graph)
diff --git a/tests/controller.cpp b/tests/controller.cpp
@@ -0,0 +1,12 @@
+#include <boost/test/unit_test.hpp>
+
+#include "dynamic-graph/tutorial/feedback-controller.hh"
+
+BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
+
+BOOST_AUTO_TEST_CASE(test_controller)
+{
+  dynamicgraph::tutorial::FeedbackController controller("test controller");
+}
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/tests/pendulum.cpp b/tests/pendulum.cpp
@@ -0,0 +1,18 @@
+#include <boost/test/unit_test.hpp>
+
+#include "dynamic-graph/tutorial/inverted-pendulum.hh"
+
+BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
+
+BOOST_AUTO_TEST_CASE(test_pendulum)
+{
+  dynamicgraph::tutorial::InvertedPendulum pendulum("test pendulum");
+  pendulum.setCartMass(1.2);
+  BOOST_CHECK(pendulum.getCartMass() == 1.2);
+  pendulum.setPendulumMass(0.6);
+  BOOST_CHECK(pendulum.getPendulumMass() == 0.6);
+  pendulum.setPendulumLength(1.8);
+  BOOST_CHECK(pendulum.getPendulumLength() == 1.8);
+}
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/unitTesting/CMakeLists.txt b/unitTesting/CMakeLists.txt
diff --git a/unitTesting/main.cc b/unitTesting/main.cc
diff --git a/unitTesting/sot-tutorial-test.cc b/unitTesting/sot-tutorial-test.cc
diff --git a/unitTesting/sot-tutorial-test.hh b/unitTesting/sot-tutorial-test.hh