Change the testing facilities (WIP)

resibots / inria_wbc

Generic whole-body controller based on quadratic programming

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Change the testing facilities (WIP) #54

Closed jbmouret closed 3 years ago

jbmouret commented 3 years ago

I am frustrated by Boost.test because it does not generate a report that is easy to read for us. In addition, it cannot parallelize the tests (and our tests take ages).

I wrote a lightweight alternative to boost.test (utest.hpp) that should work for us.

Next steps:

add the multithreading
add the command line option (to generate references, in particular)

jbmouret commented 3 years ago

We should now be more or less ready to merge. @ivanbergonzani and @dalinel: did you have a look?

We still need a test for Franka (then Tiago) but this does not need to be as extensive as the Talos.