DeepMind
64bc6d27b2
Added analytic derivatives of smooth (unconstrained) dynamics forces, with respect to velocities: - Centripetal and Coriolis forces computed by the Recursive Newton-Euler algorithm. - Damping and fluid-drag passive forces. - Actuation forces. A new implicit-in-velocity integrator is implemented using the analytic derivatives. This integrator lies between the Euler and Runge Kutta integrators in terms of both stability and computational cost. PiperOrigin-RevId: 450377010 Change-Id: Ie192b441876c22e732fb749333926f296e0a09cc
68 lines
2.1 KiB
CMake
68 lines
2.1 KiB
CMake
# Copyright 2021 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# https://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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set(MUJOCO_TEST_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/.. ${CMAKE_CURRENT_SOURCE_DIR}/../src)
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set(MUJOCO_TEST_WORKING_DIR ${CMAKE_CURRENT_SOURCE_DIR})
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include(GoogleTest)
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macro(mujoco_test name)
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add_executable(${name} ${name}.cc)
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target_link_libraries(${name} gtest_main mujoco)
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target_include_directories(${name} PRIVATE ${MUJOCO_TEST_INCLUDE})
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set_target_properties(${name} PROPERTIES BUILD_RPATH ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
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# gtest_discover_tests is recommended over gtest_add_tests, but has some issues in Windows.
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gtest_add_tests(
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TARGET ${name}
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SOURCES ${name}.cc
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WORKING_DIRECTORY ${MUJOCO_TEST_WORKING_DIR}
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TEST_LIST testList
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)
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if(WIN32)
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set_tests_properties(
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${testList} PROPERTIES ENVIRONMENT "PATH=$<TARGET_FILE_DIR:mujoco>;$ENV{PATH}"
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)
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endif()
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endmacro()
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add_library(fixture STATIC fixture.h fixture.cc)
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target_include_directories(fixture PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/..)
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target_compile_definitions(fixture PUBLIC MJSTATIC)
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target_link_libraries(
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fixture
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PUBLIC absl::core_headers
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absl::strings
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absl::synchronization
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gtest
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gmock
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mujoco::mujoco
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)
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target_include_directories(fixture PRIVATE ${mujoco_SOURCE_DIR}/include gmock)
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mujoco_test(fixture_test)
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target_link_libraries(fixture_test fixture gmock)
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mujoco_test(header_test)
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target_link_libraries(header_test fixture gmock)
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mujoco_test(pipeline_test)
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target_link_libraries(pipeline_test fixture gmock)
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add_subdirectory(benchmark)
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add_subdirectory(engine)
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add_subdirectory(sample)
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add_subdirectory(user)
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add_subdirectory(xml)
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