Add SN002/V1_2 to unit tests (icub-tech-iit#243)

SimoneMic · Apr 18, 2024 · 5f04705 · 5f04705
2 parents c34edaf + 25f3e85
commit 5f04705
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Showing 6 changed files with 12 additions and 5 deletions.
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
@@ -14,6 +14,8 @@ endmacro()
 # Model generated with simmechanics
 add_ergocub_model_test(ergoCubGazeboV1)
 add_ergocub_model_test(ergoCubGazeboV1_1)
+add_ergocub_model_test(ergoCubGazeboV1_2)
 add_ergocub_model_test(ergoCubSN000)
 add_ergocub_model_test(ergoCubSN001)
+add_ergocub_model_test(ergoCubSN002)
 
diff --git a/tests/ergocub-model-test.cpp b/tests/ergocub-model-test.cpp
@@ -14,10 +14,12 @@
 #include <cmath>
 #include <cstdlib>
 
-bool isergoCub1_1Model(const std::string& modelPath)
+bool isNotergoCub1Model(const std::string& modelPath)
 {
     return (modelPath.find("SN001") != std::string::npos ||
-            modelPath.find("GazeboV1_1") != std::string::npos);
+            modelPath.find("GazeboV1_1") != std::string::npos ||
+            modelPath.find("SN002") != std::string::npos ||
+            modelPath.find("GazeboV1_2") != std::string::npos);
 }
 
 inline bool checkDoubleAreEqual(const double & val1,
@@ -258,7 +260,7 @@ bool checkSolesAreParallelAndCorrectlyPlaced(iDynTree::KinDynComputations & comp
 
 
 
-bool checkAxisDirections(iDynTree::KinDynComputations & comp, bool isergoCub1_1Model)
+bool checkAxisDirections(iDynTree::KinDynComputations & comp, bool isNotergoCub1Model)
 {
 
     std::vector<std::string> axisNames;
@@ -319,7 +321,7 @@ bool checkAxisDirections(iDynTree::KinDynComputations & comp, bool isergoCub1_1M
     expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.116648,0.227771,0.966702));
     axisNames.push_back("r_thumb_add");
     expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.329847,0.160871,0.930227));
-    if (!isergoCub1_1Model) {
+    if (!isNotergoCub1Model) {
         axisNames.push_back("r_thumb_prox");
         expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.525416,0.838737,-0.143034));
         axisNames.push_back("r_thumb_dist");
@@ -740,7 +742,7 @@ int main(int argc, char ** argv)
     comp.setRobotState(qj,dqj,grav);
 
     // Check axis
-    if( !checkAxisDirections(comp, isergoCub1_1Model(modelPath)) )
+    if( !checkAxisDirections(comp, isNotergoCub1Model(modelPath)) )
     {
         return EXIT_FAILURE;
     }

diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt
@@ -11,6 +11,9 @@ list(APPEND GAZEBO_SUPPORTED_MODELS "ergoCubGazeboV1")
 list(APPEND GAZEBO_SUPPORTED_MODELS "ergoCubGazeboV1_minContacts")
 list(APPEND GAZEBO_SUPPORTED_MODELS "ergoCubGazeboV1_1")
 list(APPEND GAZEBO_SUPPORTED_MODELS "ergoCubGazeboV1_1_minContacts")
+list(APPEND GAZEBO_SUPPORTED_MODELS "ergoCubGazeboV1_2")
+list(APPEND GAZEBO_SUPPORTED_MODELS "ergoCubGazeboV1_2_minContacts")
+
 
 
 set(INSTALLED_URDF_MODELS "")

diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_2/.gitignoreTOBEDELETED b/urdf/ergoCub/robots/ergoCubGazeboV1_2/.gitignoreTOBEDELETED
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_2_minContacts/.gitignoreTOBEDELETED b/urdf/ergoCub/robots/ergoCubGazeboV1_2_minContacts/.gitignoreTOBEDELETED
diff --git a/urdf/ergoCub/robots/ergoCubSN002/.gitignoreTOBEDELETED b/urdf/ergoCub/robots/ergoCubSN002/.gitignoreTOBEDELETED