[skip ci] wip

test/CMakeLists.txt

@@ -34,6 +34,10 @@ wolf_add_gtest(gtest_force_torque_delta_tools gtest_force_torque_delta_tools.cpp
 # processor_point_feet_nomove test
 wolf_add_gtest(gtest_processor_point_feet_nomove gtest_processor_point_feet_nomove.cpp)
 
+# Load bodydynamics tests
+wolf_add_gtest(gtest_load_bodydynamics gtest_load_bodydynamics.cpp)
+wolf_add_gtest(gtest_no_load_bodydynamics gtest_no_load_bodydynamics.cpp)
+
 # schema test
 wolf_add_gtest(gtest_schema gtest_schema.cpp)
 

test/gtest_load_bodydynamics.cpp

+// WOLF - Copyright (C) 2020,2021,2022,2023,2024
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+#include <gtest/gtest.h>
+#include "bodydynamics/utils/load_bodydynamics.h"
+#include <core/sensor/factory_sensor.h>
+
+using namespace wolf;
+
+// NOTE: This test and 'gtest_no_load_bodydynamics' complements each other
+// In this test we load 'bodydynamics' and 'core' should be automatically loaded.
+// To check if a plugin was loaded, we check the registering of a sensor to the factories: 
+// "SensorOdom2d" for 'core'
+// "ProcessorForceTorquePreint" for 'bodydynamics'
+WOLF_LOAD_BODYDYNAMICS;
+
+TEST(load_bodydynamics, DummyTestExample)
+{
+    EXPECT_TRUE(FactorySensorNode::isCreatorRegistered("SensorOdom2d"));
+    EXPECT_TRUE(FactoryProcessorNode::isCreatorRegistered("ProcessorForceTorquePreint"));
+}
+
+int main(int argc, char **argv)
+{
+    testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}

test/gtest_no_load_bodydynamics.cpp

+// WOLF - Copyright (C) 2020,2021,2022,2023,2024
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+#include <gtest/gtest.h>
+#include <core/utils/load_core.h>
+#include <core/sensor/factory_sensor.h>
+
+using namespace wolf;
+
+// NOTE: This test and 'gtest_load_bodydynamics' complements each other
+// In this test we load 'core' but not 'bodydynamics'
+// To check if a plugin was loaded, we check the registering of a sensor to the FactorySensorNode: 
+// "SensorOdom2d" for 'core'
+// "ProcessorForceTorquePreint" for 'bodydynamics'
+WOLF_LOAD_CORE;
+
+TEST(no_load_bodydynamics, DummyTestExample)
+{
+    EXPECT_TRUE(FactorySensorNode::isCreatorRegistered("SensorOdom2d"));
+    EXPECT_FALSE(FactoryProcessorNode::isCreatorRegistered("ProcessorForceTorquePreint"));
+}
+
+int main(int argc, char **argv)
+{
+    testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}