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# Copyright 2021 DeepMind Technologies Limited
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# https://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# Macro for benchmarks that don't use GL (same as mujoco_api_test, but uses
# benchmark::benchmark_main).
macro(mujoco_benchmark_test name)
add_executable(${name} ${name}.cc)
target_link_libraries(
${name}
benchmark::benchmark_main
mujoco
absl::core_headers
)
target_include_directories(${name} PRIVATE ${MUJOCO_TEST_INCLUDE})
# TODO(fraromano) Check RPATH settings
set_target_properties(${name} PROPERTIES BUILD_RPATH ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
# gtest_discover_tests is recommended over gtest_add_tests, but has some issues in Windows.
gtest_add_tests(
TARGET ${name}
SOURCES ${name}.cc
WORKING_DIRECTORY ${MUJOCO_TEST_WORKING_DIR}
TEST_LIST testList
)
if(WIN32)
set_tests_properties(
${testList} PROPERTIES ENVIRONMENT "PATH=$<TARGET_FILE_DIR:mujoco>;$ENV{PATH}"
)
endif()
endmacro()
mujoco_benchmark_test(step_benchmark_test)
target_link_libraries(
step_benchmark_test
fixture
gmock
benchmark::benchmark
)
mujoco_benchmark_test(parse_benchmark_test)
target_link_libraries(
parse_benchmark_test
fixture
gmock
benchmark::benchmark
)
mujoco_benchmark_test(engine_util_spatial_benchmark_test)
target_link_libraries(
engine_util_spatial_benchmark_test
fixture
gmock
benchmark::benchmark
)
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