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# Copyright (c) 2011-2022, The DART development contributors
dart_build_tests(
TYPE integration
TARGET_PREFIX INTEGRATION
LINK_LIBRARIES dart
SOURCES
test_Aspect.cpp
test_Building.cpp
test_Common.cpp
test_Concurrency.cpp
test_Constraint.cpp
test_Frames.cpp
test_Friction.cpp
test_InverseKinematics.cpp
test_NameManagement.cpp
test_Signal.cpp
)
dart_add_test("integration" test_CollisionGroups)
foreach(collision_engine
dart-collision-bullet
dart-collision-ode)
if(TARGET ${collision_engine})
target_link_libraries(test_CollisionGroups ${collision_engine})
endif()
endforeach()
dart_add_test("integration" test_ConstraintSolver)
dart_add_test("integration" test_ContactConstraint)
dart_add_test("integration" test_GenericJoints)
dart_add_test("integration" test_Inertia)
dart_add_test("integration" test_Lemke)
dart_add_test("integration" test_LocalResourceRetriever)
dart_add_test("integration" test_Optimizer)
dart_add_test("integration" test_ScrewJoint)
dart_add_test("integration" test_Subscriptions)
if(TARGET dart-optimizer-ipopt)
target_link_libraries(test_Optimizer dart-optimizer-ipopt)
endif()
if(TARGET dart-optimizer-nlopt)
target_link_libraries(test_Optimizer dart-optimizer-nlopt)
endif()
if(TARGET dart-utils)
dart_add_test("integration" test_CompositeResourceRetriever)
target_link_libraries(test_CompositeResourceRetriever dart-utils)
dart_add_test("integration" test_DartResourceRetriever)
target_link_libraries(test_DartResourceRetriever dart-utils)
dart_add_test("integration" test_FileInfoWorld)
target_link_libraries(test_FileInfoWorld dart-utils)
dart_add_test("integration" test_PackageResourceRetriever)
target_link_libraries(test_PackageResourceRetriever dart-utils)
dart_add_test("integration" test_MjcfParser)
target_link_libraries(test_MjcfParser dart-utils)
dart_add_test("integration" test_SdfParser)
target_link_libraries(test_SdfParser dart-utils)
dart_add_test("integration" test_SkelParser)
target_link_libraries(test_SkelParser dart-utils)
if(NOT MSVC)
dart_add_test("integration" test_VskParser)
target_link_libraries(test_VskParser dart-utils)
endif()
endif()
if(TARGET dart-utils-urdf)
if(NOT MSVC)
dart_add_test("integration" test_DartLoader)
target_link_libraries(test_DartLoader dart-utils-urdf)
endif()
dart_add_library(SharedLibraryWamIkFast SharedLibraryWamIkFast.hpp SharedLibraryWamIkFast.cpp)
target_link_libraries(SharedLibraryWamIkFast PUBLIC dart)
target_compile_definitions(SharedLibraryWamIkFast PUBLIC IKFAST_NO_MAIN IKFAST_CLIBRARY)
target_compile_options(SharedLibraryWamIkFast PRIVATE -w)
dart_add_library(GeneratedWamIkFast GeneratedWamIkFast.cpp)
target_link_libraries(GeneratedWamIkFast PUBLIC dart)
target_compile_definitions(GeneratedWamIkFast PUBLIC IKFAST_NO_MAIN IKFAST_CLIBRARY)
target_compile_options(GeneratedWamIkFast PRIVATE -w)
if(BUILD_SHARED_LIBS)
dart_add_test("integration" test_IkFast)
target_link_libraries(test_IkFast dart-utils-urdf)
add_dependencies(test_IkFast GeneratedWamIkFast SharedLibraryWamIkFast)
endif()
endif()
if(TARGET dart-planning)
dart_add_test("integration" test_NearestNeighbor)
target_link_libraries(test_NearestNeighbor dart-planning)
endif()
dart_format_add(
GeneratedWamIkFast.cpp
SharedLibraryWamIkFast.hpp
SharedLibraryWamIkFast.cpp
)
if(TARGET dart-optimizer-pagmo)
dart_add_test("integration" test_MultiObjectiveOptimization)
target_link_libraries(test_MultiObjectiveOptimization dart-optimizer-pagmo)
endif()
dart_add_test("integration" test_Distance)
if(TARGET dart-collision-bullet)
target_link_libraries(test_Distance dart-collision-bullet)
endif()
dart_add_test("integration" test_Raycast)
if(TARGET dart-collision-bullet)
target_link_libraries(test_Raycast dart-collision-bullet)
endif()
if(TARGET dart-collision-ode)
# This test doesn't work with FCL because it converts simple shapes to meshes, which makes
# it difficult to come up with correct test expectations.
dart_add_test("integration" test_ForceDependentSlip)
target_link_libraries(test_ForceDependentSlip dart-collision-ode)
endif()
if(TARGET dart-utils)
dart_add_test("integration" test_Collision)
target_link_libraries(test_Collision dart-utils)
if(TARGET dart-collision-bullet)
target_link_libraries(test_Collision dart-collision-bullet)
endif()
if(TARGET dart-collision-ode)
target_link_libraries(test_Collision dart-collision-ode)
endif()
dart_add_test("integration" test_Dynamics)
target_link_libraries(test_Dynamics dart-utils)
dart_add_test("integration" test_Joints)
target_link_libraries(test_Joints dart-utils)
dart_add_test("integration" test_JointForceTorque)
target_link_libraries(test_JointForceTorque dart-utils)
dart_add_test("integration" test_Skeleton)
target_link_libraries(test_Skeleton dart-utils)
dart_add_test("integration" test_MetaSkeleton)
target_link_libraries(test_MetaSkeleton dart-utils)
dart_add_test("integration" test_SoftDynamics)
target_link_libraries(test_SoftDynamics dart-utils)
dart_add_test("integration" test_World)
target_link_libraries(test_World dart-utils)
if(TARGET dart-collision-bullet)
target_link_libraries(test_World dart-collision-bullet)
endif()
if(TARGET dart-utils-urdf)
dart_add_test("integration" test_ForwardKinematics)
target_link_libraries(test_ForwardKinematics dart-utils-urdf)
endif()
endif()
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