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remove dependency on gflags, C++11 from test_invdyn_bullet.cpp

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add support for premake for test_invdyn_bullet
This commit is contained in:
Erwin Coumans
2015-12-02 17:49:25 -08:00
parent 3dfebe0c45
commit 332017ff23
2 changed files with 82 additions and 10 deletions
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19
test/InverseDynamics/test_invdyn_bullet.cpp
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@@ -18,7 +18,6 @@
#include <BulletDynamics/Featherstone/btMultiBodyPoint2Point.h>
#include <BulletDynamics/Featherstone/btMultiBodyLinkCollider.h>
#include <../CommonInterfaces/CommonGUIHelperInterface.h>
#include <gflags/gflags.h>
#include <gtest/gtest.h>
#include <../Importers/ImportURDFDemo/BulletUrdfImporter.h>
#include <../Importers/ImportURDFDemo/URDF2Bullet.h>
@@ -29,10 +28,12 @@
#include <btMultiBodyFromURDF.hpp>
#include <MultiBodyTreeCreator.hpp>
#include <MultiBodyTreeDebugGraph.hpp>
#include "Bullet3Common/b3CommandLineArgs.h"
#include "Bullet3Common/b3Random.h"
using namespace btInverseDynamics;
DEFINE_bool(verbose, false, "print extra info");
bool FLAGS_verbose=false;
static btVector3 gravity(0, 0, -10);
static const bool kBaseFixed = false;
@@ -67,15 +68,13 @@ TEST(InvDynCompare, bulletUrdfR2D2) {
double max_pos_error = 0;
double max_acc_error = 0;
std::default_random_engine generator;
std::uniform_real_distribution<double> distribution(-M_PI, M_PI);
auto rnd = std::bind(distribution, generator);
b3Srand(0);
for (int loop = 0; loop < kNLoops; loop++) {
for (int i = 0; i < q.size(); i++) {
q(i) = rnd();
u(i) = rnd();
dot_u(i) = rnd();
q(i) = b3RandRange(-B3_PI, B3_PI);
u(i) = b3RandRange(-B3_PI, B3_PI);
dot_u(i) = b3RandRange(-B3_PI, B3_PI);
}
double pos_error;
@@ -108,8 +107,8 @@ TEST(InvDynCompare, bulletUrdfR2D2) {
}
int main(int argc, char **argv) {
gflags::SetUsageMessage("Usage: invdyn_from_btmultibody -verbose = true/false");
gflags::ParseCommandLineFlags(&argc, &argv, false);
b3CommandLineArgs myArgs(argc,argv);
FLAGS_verbose = myArgs.CheckCmdLineFlag("verbose");
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}