ba8964c4ac
This change adds support for calculating Jacobians and dot(Jacobian)*u terms, along with the required support for the 3xN matrices in the standalone math library. It also adds functions to compute kinematics only (position, velocity, accel). To facilitate tests, the Cl also adds a RandomTreeCreator to create randomized multibody trees. Thanks to Thomas Buschmann for this contribution!
132 lines
5.0 KiB
CMake
132 lines
5.0 KiB
CMake
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INCLUDE_DIRECTORIES(
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.
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../../src
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../gtest-1.7.0/include
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../../Extras/InverseDynamics
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)
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#ADD_DEFINITIONS(-DGTEST_HAS_PTHREAD=1)
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ADD_DEFINITIONS(-D_VARIADIC_MAX=10)
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LINK_LIBRARIES(
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BulletInverseDynamicsUtils BulletInverseDynamics Bullet3Common LinearMath gtest
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)
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IF (NOT WIN32)
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LINK_LIBRARIES( pthread )
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ENDIF()
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ADD_EXECUTABLE(Test_BulletInverseDynamicsJacobian
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test_invdyn_jacobian.cpp
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)
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ADD_TEST(Test_BulletInverseDynamicsJacobian_PASS Test_BulletInverseDynamicsJacobian)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(Test_BulletInverseDynamicsJacobian PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(Test_BulletInverseDynamicsJacobian PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(Test_BulletInverseDynamicsJacobian PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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INCLUDE_DIRECTORIES(
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.
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../../src
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../gtest-1.7.0/include
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../../Extras/InverseDynamics
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)
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#ADD_DEFINITIONS(-DGTEST_HAS_PTHREAD=1)
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ADD_DEFINITIONS(-D_VARIADIC_MAX=10)
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LINK_LIBRARIES(
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BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics Bullet3Common LinearMath gtest
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)
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IF (NOT WIN32)
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LINK_LIBRARIES( pthread )
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ENDIF()
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ADD_EXECUTABLE(Test_BulletInverseForwardDynamics
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test_invdyn_bullet.cpp
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../../examples/Utils/b3ResourcePath.cpp
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../../examples/Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h
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../../examples/Importers/ImportURDFDemo/MultiBodyCreationInterface.h
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../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
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../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
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../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
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../../examples/Importers/ImportURDFDemo/UrdfParser.h
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../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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../../examples/Importers/ImportURDFDemo/URDF2Bullet.h
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../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
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../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
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../../examples/Utils/b3Clock.cpp
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../../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
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../../Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
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../../Extras/Serialize/BulletFileLoader/bChunk.cpp
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../../Extras/Serialize/BulletFileLoader/bFile.cpp
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../../Extras/Serialize/BulletFileLoader/bDNA.cpp
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../../Extras/Serialize/BulletFileLoader/btBulletFile.cpp
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../../examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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../../examples/Importers/ImportURDFDemo/URDFJointTypes.h
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../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
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../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
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../../examples/Importers/ImportSTLDemo/ImportSTLSetup.h
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../../examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h
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../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
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../../examples/Importers/ImportColladaDemo/ColladaGraphicsInstance.h
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../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
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../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
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../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
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../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
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../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
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)
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ADD_TEST(Test_BulletInverseForwardDynamics_PASS Test_BulletInverseForwardDynamics)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(Test_BulletInverseForwardDynamics PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(Test_BulletInverseForwardDynamics PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(Test_BulletInverseForwardDynamics PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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INCLUDE_DIRECTORIES(
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.
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../../src
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../gtest-1.7.0/include
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../../Extras/InverseDynamics
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)
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#ADD_DEFINITIONS(-DGTEST_HAS_PTHREAD=1)
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ADD_DEFINITIONS(-D_VARIADIC_MAX=10)
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LINK_LIBRARIES(
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BulletInverseDynamicsUtils BulletInverseDynamics Bullet3Common LinearMath gtest
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)
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IF (NOT WIN32)
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LINK_LIBRARIES( pthread )
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ENDIF()
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ADD_EXECUTABLE(Test_BulletInverseDynamics
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test_invdyn_kinematics.cpp
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)
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ADD_TEST(Test_BulletInverseDynamics_PASS Test_BulletInverseDynamics)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(Test_BulletInverseDynamics PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(Test_BulletInverseDynamics PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(Test_BulletInverseDynamics PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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