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Merge pull request #2276 from traversaro:reducetestboilerplate

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PiperOrigin-RevId: 707613522
Change-Id: Ic945c6b057b77f3462dbdb758139af12133f6a8f
This commit is contained in:
Copybara-Service
2024-12-18 11:22:59 -08:00
parent edec8c5e3a 756a8d716a
commit 526637f118
9 changed files with 58 additions and 134 deletions
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test/benchmark/CMakeLists.txt
+21 -62
View File
@@ -12,86 +12,45 @@
# 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(ccd_benchmark_test)
target_link_libraries(
mujoco_test(
ccd_benchmark_test
fixture
gmock
benchmark::benchmark
MAIN_TARGET benchmark::benchmark_main
ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
)
mujoco_benchmark_test(step_benchmark_test)
target_link_libraries(
mujoco_test(
step_benchmark_test
fixture
gmock
benchmark::benchmark
MAIN_TARGET benchmark::benchmark_main
ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
)
mujoco_benchmark_test(thread_performance_test)
target_link_libraries(
mujoco_test(
thread_performance_test
fixture
gmock
benchmark::benchmark
MAIN_TARGET benchmark::benchmark_main
ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
)
mujoco_benchmark_test(parse_benchmark_test)
target_link_libraries(
mujoco_test(
parse_benchmark_test
fixture
gmock
benchmark::benchmark
MAIN_TARGET benchmark::benchmark_main
ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
)
mujoco_benchmark_test(engine_util_spatial_benchmark_test)
target_link_libraries(
mujoco_test(
engine_util_spatial_benchmark_test
fixture
gmock
benchmark::benchmark
MAIN_TARGET benchmark::benchmark_main
ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
)
mujoco_benchmark_test(engine_core_smooth_benchmark_test)
target_link_libraries(
mujoco_test(
engine_core_smooth_benchmark_test
fixture
gmock
benchmark::benchmark
MAIN_TARGET benchmark::benchmark_main
ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
)
mujoco_benchmark_test(engine_util_sparse_benchmark_test)
target_link_libraries(
mujoco_test(
engine_util_sparse_benchmark_test
fixture
gmock
benchmark::benchmark
MAIN_TARGET benchmark::benchmark_main
ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
)