Fixed blocking issue of realtime test cases

keenon · Feb 5, 2022 · 6b5360a · 6b5360a
1 parent fedbe3b
commit 6b5360a
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Showing 13 changed files with 598 additions and 593 deletions.
diff --git a/unittests/comprehensive/test_FullAcrobot.cpp b/unittests/comprehensive/test_FullAcrobot.cpp
@@ -31,7 +31,7 @@
 #include "TestHelpers.hpp"
 #include "stdio.h"
 
-#define iLQR_MPC_TEST
+//#define iLQR_MPC_TEST
 
 using namespace dart;
 using namespace math;

diff --git a/unittests/comprehensive/test_FullArm.cpp b/unittests/comprehensive/test_FullArm.cpp
@@ -31,7 +31,7 @@
 #include "TestHelpers.hpp"
 #include "stdio.h"
 
-#define iLQR_MPC_TEST
+//#define iLQR_MPC_TEST
 #define USE_NOISE
 
 using namespace dart;

diff --git a/unittests/comprehensive/test_FullContactCartpole.cpp b/unittests/comprehensive/test_FullContactCartpole.cpp
@@ -28,7 +28,7 @@
 #include "TestHelpers.hpp"
 #include "stdio.h"
 
-#define iLQR_MPC_TEST
+//#define iLQR_MPC_TEST
 
 using namespace dart;
 using namespace math;
@@ -182,7 +182,7 @@ std::shared_ptr<LossFn> getSSIDVelLoss()
   return std::make_shared<LossFn>(loss, lossGrad);
 }
 
-
+#ifdef iLQR_MPC_TEST
 WorldPtr createWorld(s_t timestep)
 {
   WorldPtr world = World::create();
@@ -268,6 +268,7 @@ WorldPtr createWorld(s_t timestep)
 
   return world;
 }
+#endif
 
 std::mt19937 initializeRandom()
 {

diff --git a/unittests/comprehensive/test_FullDoublependulum.cpp b/unittests/comprehensive/test_FullDoublependulum.cpp
@@ -31,7 +31,7 @@
 #include "TestHelpers.hpp"
 #include "stdio.h"
 
-#define iLQR_MPC_TEST
+//#define iLQR_MPC_TEST
 #define USE_NOISE
 
 using namespace dart;

diff --git a/unittests/comprehensive/test_FullWhip.cpp b/unittests/comprehensive/test_FullWhip.cpp
@@ -32,7 +32,7 @@
 #include "TestHelpers.hpp"
 #include "stdio.h"
 
-#define iLQR_MPC_TEST
+//#define iLQR_MPC_TEST
 #define USE_NOISE
 
 using namespace dart;

diff --git a/unittests/comprehensive/test_HalfCheetahRealtime.cpp b/unittests/comprehensive/test_HalfCheetahRealtime.cpp
@@ -62,8 +62,8 @@
 #include "TestHelpers.hpp"
 #include "stdio.h"
 
-#define ALL_TESTS
-// #define NO_VIS
+//#define ALL_TESTS
+//#define NO_VIS
 
 using namespace dart;
 using namespace math;

diff --git a/unittests/comprehensive/test_Proto.cpp b/unittests/comprehensive/test_Proto.cpp
@@ -107,6 +107,8 @@ TEST(PROTO, SERIALIZE_ROLLOUT)
   std::unordered_map<std::string, Eigen::MatrixXs> vel;
   std::unordered_map<std::string, Eigen::MatrixXs> force;
   Eigen::VectorXs mass = Eigen::VectorXs::Random(dofs);
+  Eigen::VectorXs spring = Eigen::VectorXs::Random(dofs);
+  Eigen::VectorXs damping = Eigen::VectorXs::Random(dofs);
   std::unordered_map<std::string, Eigen::MatrixXs> metadata;
 
   pos["identity"] = Eigen::MatrixXs::Random(dofs, steps);
@@ -121,7 +123,7 @@ TEST(PROTO, SERIALIZE_ROLLOUT)
   metadata["3"] = Eigen::MatrixXs::Random(dofs, steps);
 
   TrajectoryRolloutReal rollout
-      = TrajectoryRolloutReal(pos, vel, force, mass, metadata);
+      = TrajectoryRolloutReal(pos, vel, force, mass, damping, spring, metadata);
 
   proto::TrajectoryRollout proto;
   rollout.serialize(proto);

diff --git a/unittests/comprehensive/test_Realtime.cpp b/unittests/comprehensive/test_Realtime.cpp
@@ -55,9 +55,9 @@
 #include "TestHelpers.hpp"
 #include "stdio.h"
 
-#define ALL_TESTS
-#define COM_SSID
-#define MASS_SSID
+//#define ALL_TESTS
+//#define COM_SSID
+//#define MASS_SSID
 
 using namespace dart;
 using namespace math;
@@ -1292,6 +1292,7 @@ TEST(REALTIME, CARTPOLE_MU_PLOT)
 }
 #endif
 
+#ifdef ALL_TESTS
 TEST(REALTIME, CARTPOLE_COM_PLOT)
 {
   ////////////////////////////////////////////////////////////
@@ -1450,4 +1451,5 @@ TEST(REALTIME, CARTPOLE_COM_PLOT)
     solutionMat.row(i) = solutions[i];
   }
   ssid.saveCSVMatrix("/workspaces/nimblephysics/dart/realtime/saved_data/raw_data/Solutions.csv",solutionMat);
-}
+}
+#endif