Split dynamics integration test binary and normalize test names (#2260)

Author: jslee02

tests/helpers/GTestUtils.hpp

@@ -245,7 +245,7 @@ bool equals(
 }
 
 //==============================================================================
-bool rotationEquals(
+inline bool rotationEquals(
     const Eigen::Matrix3d& rot1, const Eigen::Matrix3d& rot2, double tol = 1e-5)
 {
   const Eigen::Matrix3d rotError = rot1.transpose() * rot2;
@@ -254,7 +254,7 @@ bool rotationEquals(
 }
 
 //==============================================================================
-bool equals(
+inline bool equals(
     const Eigen::Isometry3d& tf1,
     const Eigen::Isometry3d& tf2,
     double tol = 1e-5)

tests/helpers/dynamics_helpers.hpp

@@ -62,7 +62,8 @@ enum TypeOfDOF
 
 //==============================================================================
 /// Add an end-effector to the last link of the given robot
-void addEndEffector(SkeletonPtr robot, BodyNode* parent_node, Vector3d dim)
+inline void addEndEffector(
+    SkeletonPtr robot, BodyNode* parent_node, Vector3d dim)
 {
   // Create the end-effector node with a random dimension
   BodyNode::Properties node(BodyNode::AspectProperties("ee"));
@@ -80,7 +81,7 @@ void addEndEffector(SkeletonPtr robot, BodyNode* parent_node, Vector3d dim)
 }
 
 //==============================================================================
-std::pair<Joint*, BodyNode*> add1DofJoint(
+inline std::pair<Joint*, BodyNode*> add1DofJoint(
     SkeletonPtr skel,
     BodyNode* parent,
     const BodyNode::Properties& node,
@@ -131,7 +132,7 @@ std::pair<Joint*, BodyNode*> add1DofJoint(
 
 //==============================================================================
 /// Creates an arbitrary three-link robot consisting of Single-DOF joints
-SkeletonPtr createThreeLinkRobot(
+inline SkeletonPtr createThreeLinkRobot(
     Vector3d dim1,
     TypeOfDOF type1,
     Vector3d dim2,
@@ -219,7 +220,7 @@ SkeletonPtr createThreeLinkRobot(
 
 //==============================================================================
 /// Creates an arbitrary two-link robot consisting of Single-DOF joints
-SkeletonPtr createTwoLinkRobot(
+inline SkeletonPtr createTwoLinkRobot(
     Vector3d dim1,
     TypeOfDOF type1,
     Vector3d dim2,
@@ -241,7 +242,7 @@ SkeletonPtr createTwoLinkRobot(
 //==============================================================================
 /// Creates a N link manipulator with the given dimensions where each joint is
 /// the specified type
-SkeletonPtr createNLinkRobot(
+inline SkeletonPtr createNLinkRobot(
     int _n, Vector3d dim, TypeOfDOF type, bool finished = false)
 {
   DART_ASSERT(_n > 0);
@@ -306,7 +307,7 @@ SkeletonPtr createNLinkRobot(
 /// Creates a N link pendulum with the given dimensions where each joint is
 /// the specified type. The each offset from the joint position to the child
 /// body is specified.
-SkeletonPtr createNLinkPendulum(
+inline SkeletonPtr createNLinkPendulum(
     size_t numBodyNodes,
     const Vector3d& dim,
     TypeOfDOF type,
@@ -375,7 +376,7 @@ SkeletonPtr createNLinkPendulum(
 }
 
 //==============================================================================
-SkeletonPtr createGround(
+inline SkeletonPtr createGround(
     const Eigen::Vector3d& _size,
     const Eigen::Vector3d& _position = Eigen::Vector3d::Zero(),
     const Eigen::Vector3d& _orientation = Eigen::Vector3d::Zero())
@@ -403,7 +404,7 @@ SkeletonPtr createGround(
 }
 
 //==============================================================================
-SkeletonPtr createObject(
+inline SkeletonPtr createObject(
     const Eigen::Vector3d& _position = Eigen::Vector3d::Zero(),
     const Eigen::Vector3d& _orientation = Eigen::Vector3d::Zero())
 {
@@ -426,7 +427,7 @@ SkeletonPtr createObject(
 }
 
 //==============================================================================
-SkeletonPtr createSphere(
+inline SkeletonPtr createSphere(
     const double _radius,
     const Eigen::Vector3d& _position = Eigen::Vector3d::Zero())
 {
@@ -442,7 +443,7 @@ SkeletonPtr createSphere(
 }
 
 //==============================================================================
-SkeletonPtr createBox(
+inline SkeletonPtr createBox(
     const Eigen::Vector3d& _size,
     const Eigen::Vector3d& _position = Eigen::Vector3d::Zero(),
     const Eigen::Vector3d& _orientation = Eigen::Vector3d::Zero())

tests/integration/CMakeLists.txt

@@ -69,8 +69,37 @@ dart_build_tests(
 )
 
 if(TARGET dart-utils)
-  dart_add_test("integration" INTEGRATION_dynamics_Dynamics dynamics/test_Dynamics.cpp)
-  target_link_libraries(INTEGRATION_dynamics_Dynamics dart-utils)
+  set(DYNAMICS_TEST_FIXTURE dynamics/DynamicsTestFixture.cpp)
+
+  dart_add_test("integration" INTEGRATION_dynamics_DynamicsJacobians
+    ${DYNAMICS_TEST_FIXTURE}
+    dynamics/test_DynamicsJacobians.cpp)
+  target_link_libraries(INTEGRATION_dynamics_DynamicsJacobians dart-utils)
+
+  dart_add_test("integration" INTEGRATION_dynamics_DynamicsFiniteDifference
+    ${DYNAMICS_TEST_FIXTURE}
+    dynamics/test_DynamicsFiniteDifference.cpp)
+  target_link_libraries(INTEGRATION_dynamics_DynamicsFiniteDifference dart-utils)
+
+  dart_add_test("integration" INTEGRATION_dynamics_DynamicsEquations
+    ${DYNAMICS_TEST_FIXTURE}
+    dynamics/test_DynamicsEquations.cpp)
+  target_link_libraries(INTEGRATION_dynamics_DynamicsEquations dart-utils)
+
+  dart_add_test("integration" INTEGRATION_dynamics_DynamicsCenterOfMass
+    ${DYNAMICS_TEST_FIXTURE}
+    dynamics/test_DynamicsCenterOfMass.cpp)
+  target_link_libraries(INTEGRATION_dynamics_DynamicsCenterOfMass dart-utils)
+
+  dart_add_test("integration" INTEGRATION_dynamics_DynamicsImpulse
+    ${DYNAMICS_TEST_FIXTURE}
+    dynamics/test_DynamicsImpulse.cpp)
+  target_link_libraries(INTEGRATION_dynamics_DynamicsImpulse dart-utils)
+
+  dart_add_test("integration" INTEGRATION_dynamics_DynamicsHybrid
+    ${DYNAMICS_TEST_FIXTURE}
+    dynamics/test_DynamicsHybrid.cpp)
+  target_link_libraries(INTEGRATION_dynamics_DynamicsHybrid dart-utils)
 
   dart_add_test("integration" INTEGRATION_dynamics_Joints dynamics/test_Joints.cpp)
   target_link_libraries(INTEGRATION_dynamics_Joints dart-utils)