Fix unit-tests compilation

* following the change of the typedef ProblemPtr_t
humanoid-path-planner · Mar 19, 2019 · cb72b66 · cb72b66
1 parent ceb3c7f
commit cb72b66
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Showing 11 changed files with 53 additions and 51 deletions.
diff --git a/tests/hermite-path.cc b/tests/hermite-path.cc
@@ -135,8 +135,8 @@ BOOST_AUTO_TEST_CASE (hermitePath)
 {
   DevicePtr_t dev = createRobot ();
   BOOST_REQUIRE (dev);
-  Problem problem (dev);
-  steeringMethod::HermitePtr_t hermiteSM = steeringMethod::Hermite::create(&problem);
+  ProblemPtr_t problem = Problem::create(dev);
+  steeringMethod::HermitePtr_t hermiteSM = steeringMethod::Hermite::create(problem);
 
   Configuration_t q0 (dev->configSize()); q0 << -1, -1;
   Configuration_t q2 (dev->configSize()); q2 <<  1,  1;

diff --git a/tests/path-projectors.cc b/tests/path-projectors.cc
@@ -306,22 +306,22 @@ BOOST_AUTO_TEST_CASE_TEMPLATE (projectors, traits, test_types)
 {
   DevicePtr_t dev = createRobot();
   BOOST_REQUIRE (dev);
-  Problem problem (dev);
+  ProblemPtr_t problem = Problem::create(dev);
 
   ConstraintSetPtr_t c = createConstraints (dev);
   DifferentiableFunctionPtr_t func = traits::func (dev);
   c->configProjector ()->add (Implicit::create (func));
-  problem.steeringMethod(traits::SM_t::create (problem));
-  problem.steeringMethod ()->constraints (c);
+  problem->steeringMethod(traits::SM_t::create (*problem));
+  problem->steeringMethod ()->constraints (c);
 
   for (int c = 0; c < 2; ++c) {
     if (c == 0)
-      problem.setParameter ("PathProjection/HessianBound", Parameter((value_type)-1));
+      problem->setParameter ("PathProjection/HessianBound", Parameter((value_type)-1));
     else
-      problem.setParameter ("PathProjection/HessianBound", Parameter(traits::K));
+      problem->setParameter ("PathProjection/HessianBound", Parameter(traits::K));
 
     typename traits::ProjPtr_t projector =
-      traits::Proj_t::create (problem, traits::projection_step);
+      traits::Proj_t::create (*problem, traits::projection_step);
 
     std::cout << "========================================\n";
 
@@ -331,7 +331,7 @@ BOOST_AUTO_TEST_CASE_TEMPLATE (projectors, traits, test_types)
 
       // HPP_DEFINE_TIMECOUNTER(projector);
       traits::make_conf (q1, q2, i);
-      PathPtr_t path = (*problem.steeringMethod ()) (q1,q2);
+      PathPtr_t path = (*problem->steeringMethod ()) (q1,q2);
 
       PathPtr_t projection;
       // Averaging the projection

diff --git a/tests/paths.cc b/tests/paths.cc
@@ -112,11 +112,11 @@ BOOST_AUTO_TEST_CASE (extracted)
 {
   DevicePtr_t dev = createRobot();
   BOOST_REQUIRE (dev);
-  Problem problem (dev);
+  ProblemPtr_t problem = Problem::create(dev);
 
   Configuration_t q1 (dev->configSize()); q1 << 0;
   Configuration_t q2 (dev->configSize()); q2 << 1;
-  PathPtr_t p1 = (*problem.steeringMethod()) (q1, q2), p2;
+  PathPtr_t p1 = (*problem->steeringMethod()) (q1, q2), p2;
 
   p2 = p1->extract (Pair_t (0.5, 1));
   checkAt (p1, 0.5, p2, 0.0);
@@ -140,7 +140,7 @@ BOOST_AUTO_TEST_CASE (subchain)
 {
   DevicePtr_t dev = createRobot2(); // 10 translations
   BOOST_REQUIRE (dev);
-  Problem problem (dev);
+  ProblemPtr_t problem = Problem::create(dev);
 
   segments_t intervals;
   intervals.push_back(segment_t (0,3));
@@ -150,7 +150,7 @@ BOOST_AUTO_TEST_CASE (subchain)
   Configuration_t q2 (Configuration_t::Ones(dev->configSize()));
   q2.tail<5>().setConstant(-1);
 
-  PathPtr_t p1 = (*problem.steeringMethod()) (q1, q2), p2;
+  PathPtr_t p1 = (*problem->steeringMethod()) (q1, q2), p2;
   p2 = SubchainPath::create(p1, intervals, intervals);
 
   BOOST_CHECK(p2->outputSize() == 6);

diff --git a/tests/plugin-test/CMakeLists.txt b/tests/plugin-test/CMakeLists.txt
@@ -20,4 +20,5 @@ SET_TARGET_PROPERTIES(example PROPERTIES PREFIX ""
   )
 
 TARGET_LINK_LIBRARIES(example ${LIBRARY_NAME})
+PKG_CONFIG_USE_DEPENDENCY(example hpp-pinocchio)
 #INSTALL(TARGETS example DESTINATION lib/hppPlugins)
diff --git a/tests/problem.cc b/tests/problem.cc
@@ -41,6 +41,7 @@ BOOST_AUTO_TEST_CASE (memory_deallocation)
   SteeringMethodWkPtr_t sm = problem->steeringMethod();
   DistanceWkPtr_t distance = problem->distance ();
   RoadmapWkPtr_t roadmap = ps->roadmap ();
+  problem.reset();
 
   delete ps;
 

diff --git a/tests/roadmap-1.cc b/tests/roadmap-1.cc
@@ -84,8 +84,8 @@ BOOST_AUTO_TEST_CASE (Roadmap1) {
   DevicePtr_t robot = createRobot();
 
   // Create steering method
-  Problem p (robot);
-  StraightPtr_t sm = Straight::create (p);
+  ProblemPtr_t p = Problem::create(robot);
+  StraightPtr_t sm = Straight::create (*p);
   // create roadmap
   hpp::core::DistancePtr_t distance (WeighedDistance::createWithWeight
 				     (robot, vector_t::Ones(2)));
@@ -307,8 +307,8 @@ BOOST_AUTO_TEST_CASE (nearestNeighbor) {
   DevicePtr_t robot = createRobot();
 
   // Create steering method
-  Problem p (robot);
-  StraightPtr_t sm = Straight::create (p);
+  ProblemPtr_t p = Problem::create(robot);
+  StraightPtr_t sm = Straight::create (*p);
   // create roadmap
   hpp::core::DistancePtr_t distance (WeighedDistance::createWithWeight
 				     (robot, vector_t::Ones(2)));

diff --git a/tests/spline-path.cc b/tests/spline-path.cc
@@ -82,7 +82,7 @@ template <int SplineType> void compare_to_straight_path ()
 
   DevicePtr_t dev = createRobot();
   BOOST_REQUIRE (dev);
-  Problem problem (dev);
+  ProblemPtr_t problem = Problem::create(dev);
 
   Configuration_t q1 (::pinocchio::randomConfiguration(dev->model()));
   Configuration_t q2 (::pinocchio::randomConfiguration(dev->model()));
@@ -91,11 +91,11 @@ template <int SplineType> void compare_to_straight_path ()
   difference<RnxSOnLieGroupMap> (dev, q2, q1, v);
 
   // create StraightPath
-  PathPtr_t sp = (*problem.steeringMethod()) (q1, q2);
+  PathPtr_t sp = (*problem->steeringMethod()) (q1, q2);
   // value_type length = sp->length();
 
   // Create linear spline
-  typename SM_t::Ptr_t sm (SM_t::create (problem));
+  typename SM_t::Ptr_t sm (SM_t::create (*problem));
   PathPtr_t ls_abstract = (*sm) (q1, q2);
   typename path_t::Ptr_t ls = HPP_DYNAMIC_PTR_CAST(path_t, ls_abstract);
 
@@ -153,7 +153,7 @@ void check_velocity_bounds ()
 
   DevicePtr_t dev = createRobot();
   BOOST_REQUIRE (dev);
-  Problem problem (dev);
+  ProblemPtr_t problem = Problem::create(dev);
 
   Configuration_t q1 (::pinocchio::randomConfiguration(dev->model()));
   Configuration_t q2 (::pinocchio::randomConfiguration(dev->model()));
@@ -163,7 +163,7 @@ void check_velocity_bounds ()
 
 
   // Create spline
-  typename SM_t::Ptr_t sm (SM_t::create (problem));
+  typename SM_t::Ptr_t sm (SM_t::create (*problem));
   PathPtr_t spline = sm->steer (q1, orders, v1, q2, orders, v2);
 
   vector_t vb1 (vector_t::Random(dev->numberDof())), vb2 = vb1;

diff --git a/tests/test-continuous-validation.cc b/tests/test-continuous-validation.cc
@@ -133,8 +133,8 @@ BOOST_AUTO_TEST_CASE (continuous_validation_straight)
   robot->numberDeviceData (4);
 
   // create steering method
-  Problem problem (robot);
-  SteeringMethodPtr_t sm (Straight::create (problem));
+  ProblemPtr_t problem = Problem::create(robot);
+  SteeringMethodPtr_t sm (Straight::create (*problem));
 
   // create path validation objects
   PathValidationPtr_t dichotomy (Dichotomy::create (robot, 0));
@@ -257,8 +257,8 @@ template <typename SplineSteeringMethod> void test_spline_steering_method ()
   robot->numberDeviceData (4);
 
   // create steering method
-  Problem problem (robot);
-  typename SplineSteeringMethod::Ptr_t sm (SplineSteeringMethod::create (problem));
+  ProblemPtr_t problem = Problem::create(robot);
+  typename SplineSteeringMethod::Ptr_t sm (SplineSteeringMethod::create (*problem));
 
   // create path validation objects
   // PathValidationPtr_t dichotomy (Dichotomy::create (robot, 0));

diff --git a/tests/test-gradient-based.cc b/tests/test-gradient-based.cc
@@ -86,21 +86,21 @@ BOOST_AUTO_TEST_CASE (BFGS)
   q3 (0) = s; q3 (1) = s; q3 (2) = s; q3 (3) = s;
   q4 (0) = 1; q4 (1) = 0; q4 (2) = 1; q4 (3) = 0;
 
-  Problem problem (robot);
-  SteeringMethodPtr_t sm = problem.steeringMethod ();
+  ProblemPtr_t problem = Problem::create(robot);
+  SteeringMethodPtr_t sm = problem->steeringMethod ();
   PathVectorPtr_t path = PathVector::create (robot->configSize (),
 					     robot->numberDof ());
   path->appendPath ((*sm) (q0, q1));
   path->appendPath ((*sm) (q1, q2));
   path->appendPath ((*sm) (q2, q3));
   path->appendPath ((*sm) (q3, q4));
-  problem.setParameter ("SplineGradientBased/alphaInit",
+  problem->setParameter ("SplineGradientBased/alphaInit",
                         hpp::core::Parameter (1.));
-  problem.setParameter ("SplineGradientBased/costThreshold",
+  problem->setParameter ("SplineGradientBased/costThreshold",
                         hpp::core::Parameter (1e-6));
   PathOptimizerPtr_t pathOptimizer
     (pathOptimization::SplineGradientBased<path::BernsteinBasis, 1>::create
-     (problem));
+     (*problem));
   PathVectorPtr_t optimizedPath (pathOptimizer->optimize (path));
   Configuration_t p0 (robot->configSize ());
   Configuration_t p1 (robot->configSize ());

diff --git a/tests/test-kdTree.cc b/tests/test-kdTree.cc
@@ -138,13 +138,13 @@ BOOST_AUTO_TEST_CASE (kdTree) {
 
 
   // Build Distance, nearestNeighbor, KDTree
-  Problem problem (robot);
+  ProblemPtr_t problem = Problem::create(robot);
   WeighedDistancePtr_t distance = WeighedDistance::create(robot);
-  problem.distance (distance);
-  ConfigurationShooterPtr_t confShoot = problem.configurationShooter();
+  problem->distance (distance);
+  ConfigurationShooterPtr_t confShoot = problem->configurationShooter();
   nearestNeighbor::KDTree kdTree(robot,distance,30);
   nearestNeighbor::Basic basic (distance);
-  SteeringMethodPtr_t sm = steeringMethod::Straight::create (&problem);
+  SteeringMethodPtr_t sm = steeringMethod::Straight::create (problem);
 
   // Add 4 connectedComponents with 2000 nodes each
   ConfigurationPtr_t configuration;

diff --git a/tests/test-kinodynamic.cc b/tests/test-kinodynamic.cc
@@ -93,12 +93,12 @@ BOOST_AUTO_TEST_CASE (kinodynamic) {
 
 
   // Create steering method
-  Problem p = Problem (robot);
-  p.setParameter(std::string("Kinodynamic/velocityBound"),Parameter(vMax));
-  p.setParameter(std::string("Kinodynamic/accelerationBound"),Parameter(aMax));
+  ProblemPtr_t p = Problem::create(robot);
+  p->setParameter(std::string("Kinodynamic/velocityBound"),Parameter(vMax));
+  p->setParameter(std::string("Kinodynamic/accelerationBound"),Parameter(aMax));
 
-  steeringMethod::KinodynamicPtr_t sm = steeringMethod::Kinodynamic::create (p);
-  KinodynamicDistancePtr_t dist = KinodynamicDistance::createFromProblem(p);
+  steeringMethod::KinodynamicPtr_t sm = steeringMethod::Kinodynamic::create (*p);
+  KinodynamicDistancePtr_t dist = KinodynamicDistance::createFromProblem(*p);
 
   // try to connect several states : (notation : sx = (px, vx, ax)
   Configuration_t q0 (robot->currentConfiguration());
@@ -504,12 +504,12 @@ BOOST_AUTO_TEST_CASE (kinodynamic_aMax1) {
 
 
   // Create steering method
-  Problem p = Problem (robot);
-  p.setParameter(std::string("Kinodynamic/velocityBound"),Parameter(vMax));
-  p.setParameter(std::string("Kinodynamic/accelerationBound"),Parameter(aMax));
+  ProblemPtr_t p = Problem::create(robot);
+  p->setParameter(std::string("Kinodynamic/velocityBound"),Parameter(vMax));
+  p->setParameter(std::string("Kinodynamic/accelerationBound"),Parameter(aMax));
 
-  steeringMethod::KinodynamicPtr_t sm = steeringMethod::Kinodynamic::create (p);
-  KinodynamicDistancePtr_t dist = KinodynamicDistance::createFromProblem(p);
+  steeringMethod::KinodynamicPtr_t sm = steeringMethod::Kinodynamic::create (*p);
+  KinodynamicDistancePtr_t dist = KinodynamicDistance::createFromProblem(*p);
 
   // try to connect several states : (notation : sx = (px, vx, ax)
   Configuration_t q0 (robot->currentConfiguration());
@@ -586,14 +586,14 @@ BOOST_AUTO_TEST_CASE (kinodynamicOriented) {
 
 
   // Create steering method
-  Problem p = Problem (robot);
-  p.setParameter(std::string("Kinodynamic/velocityBound"),Parameter(vMax));
-  p.setParameter(std::string("Kinodynamic/accelerationBound"),Parameter(aMax));
-  p.setParameter(std::string("Kinodynamic/forceOrientation"),Parameter(true));
+  ProblemPtr_t p = Problem::create(robot);
+  p->setParameter(std::string("Kinodynamic/velocityBound"),Parameter(vMax));
+  p->setParameter(std::string("Kinodynamic/accelerationBound"),Parameter(aMax));
+  p->setParameter(std::string("Kinodynamic/forceOrientation"),Parameter(true));
 
 
-  steeringMethod::KinodynamicPtr_t sm = steeringMethod::Kinodynamic::create (p);
-  KinodynamicDistancePtr_t dist = KinodynamicDistance::createFromProblem(p);
+  steeringMethod::KinodynamicPtr_t sm = steeringMethod::Kinodynamic::create (*p);
+  KinodynamicDistancePtr_t dist = KinodynamicDistance::createFromProblem(*p);
   KinodynamicOrientedPathPtr_t pathKino,extractedPathKino;
   PathPtr_t path,extractedPath;