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Added tests for chains #351

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Added tests for chains #351

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c4c241c
added tests for chain constraints
danbarla Apr 29, 2022
9b78a8a
Merge branch 'master' into feature/chain_with_robot_test
danbarla Apr 29, 2022
1428654
changed chain order, adapted chain constraint
danbarla May 6, 2022
36b461b
added ground contact point constraint
danbarla May 11, 2022
6bef429
added regression comments
danbarla May 11, 2022
7aca1e0
one leg comparison test added
danbarla Jun 21, 2022
3ac10ec
added 4 legs standing robot comparison test
danbarla Jul 10, 2022
1848c1c
Merge branch 'master' into feature/chain_with_robot_test
danbarla Jul 10, 2022
6766b12
chain graph class added
danbarla Jul 25, 2022
aa58640
Added PoeConstraint3 and PoeEquality3 methods to Chain class. These m…
danbarla Dec 26, 2022
11e3898
fixed testChain for PoeEquality3 and example_a1_walking now runs an o…
danbarla Dec 26, 2022
4d3459d
Merge branch 'master' into feature/chain_with_robot_test
danbarla Dec 26, 2022
cd7620f
small fix
danbarla Dec 26, 2022
baa74e2
added q-factors to ChainDynamicsGraph
danbarla Mar 12, 2023
ae669af
small changes to simulation
danbarla May 8, 2023
5ad7ac0
Merge branch 'master' into feature/chain_with_robot_test
danbarla May 22, 2023
f417fcc
boost removals
danbarla May 29, 2023
068beff
Merge branch 'master' into feature/chain_with_robot_test
danbarla Jun 1, 2023
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12 changes: 12 additions & 0 deletions examples/example_a1_walking/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,20 @@ add_executable(${WALK_FORWARD} main.cpp)
target_link_libraries(${WALK_FORWARD} PUBLIC gtdynamics)
target_include_directories(${WALK_FORWARD} PUBLIC ${CMAKE_PREFIX_PATH}/include)

# Walk forward one meter.
set(WALK_FORWARD_COMBINED ${PROJECT_NAME}_forward_combined)
add_executable(${WALK_FORWARD_COMBINED} main_combined.cpp)
target_link_libraries(${WALK_FORWARD_COMBINED} PUBLIC gtdynamics)
target_include_directories(${WALK_FORWARD_COMBINED} PUBLIC ${CMAKE_PREFIX_PATH}/include)

add_custom_target(
${WALK_FORWARD}.run
COMMAND ./${WALK_FORWARD}
DEPENDS ${WALK_FORWARD}
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/examples/${PROJECT_NAME})

add_custom_target(
${WALK_FORWARD_COMBINED}.run
COMMAND ./${WALK_FORWARD_COMBINED}
DEPENDS ${WALK_FORWARD_COMBINED}
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/examples/${PROJECT_NAME})
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