Add cmake option to enable Coal cast collision manager tests (disabled by default)

Author: rjoomen

.github/workflows/clang_format.yml

@@ -27,5 +27,5 @@ jobs:
           ./.run-clang-format
           if [ $? -ge 1 ]; then return 1; fi
           output=$(git diff)
-          echo $output
+          echo "$output"
           if [ -n "$output" ]; then exit 1; else exit 0; fi

tesseract_collision/CMakeLists.txt

@@ -61,6 +61,9 @@ if(TESSERACT_BUILD_COAL)
   add_subdirectory(coal)
 endif()
 
+# Unit test options
+option(TESSERACT_COLLISION_COAL_ENABLE_COAL_CAST_TESTS "Enable CoalCastBVHManager unit tests" OFF)
+
 # Add compiler definition to core so it can find all plugins produced string( REPLACE ";" ":"
 # CONTACT_MANAGERS_PLUGINS_STRING
 # "${CONTACT_MANAGERS_PLUGINS}")

tesseract_collision/test/CMakeLists.txt

@@ -35,6 +35,9 @@ macro(add_gtest test_name test_file)
             ${LIBFCL_LIBRARIES})
   target_compile_options(${test_name} PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE} ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
   target_compile_definitions(${test_name} PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
+  if(TESSERACT_COLLISION_COAL_ENABLE_COAL_CAST_TESTS)
+    target_compile_definitions(${test_name} PRIVATE TESSERACT_COLLISION_COAL_ENABLE_COAL_CAST_TESTS)
+  endif()
   target_cxx_version(${test_name} PRIVATE VERSION ${TESSERACT_CXX_VERSION})
   target_clang_tidy(${test_name} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
   target_code_coverage(

tesseract_collision/test/collision_box_box_cast_unit.cpp

@@ -22,11 +22,13 @@ TEST(TesseractCollisionUnit, BulletCastBVHCollisionBoxBoxUnit)  // NOLINT
   test_suite::runTest(checker);
 }
 
+#if defined(TESSERACT_COLLISION_COAL_ENABLE_COAL_CAST_TESTS)
 TEST(TesseractCollisionUnit, CoalCastBVHCollisionBoxBoxUnit)  // NOLINT
 {
   tesseract_collision_coal::CoalCastBVHManager checker;
   test_suite::runTest(checker);
 }
+#endif
 
 int main(int argc, char** argv)
 {

tesseract_collision/test/collision_compound_compound_unit.cpp

@@ -50,11 +50,13 @@ TEST(TesseractCollisionUnit, BulletContinuousBVHCollisionCompoundCompoundUnit)
   test_suite::runTest(checker);
 }
 
+#if defined(TESSERACT_COLLISION_COAL_ENABLE_COAL_CAST_TESTS)
 TEST(TesseractCollisionUnit, CoalContinuousBVHCollisionCompoundCompoundUnit)  // NOLINT
 {
   tesseract_collision_coal::CoalCastBVHManager checker;
   test_suite::runTest(checker);
 }
+#endif
 
 int main(int argc, char** argv)
 {

tesseract_collision/test/collision_sphere_sphere_cast_unit.cpp

@@ -34,6 +34,7 @@ TEST(TesseractCollisionUnit, BulletContinuousBVHCollisionSphereSphereConvexHullU
   test_suite::runTest(checker, true);
 }
 
+#if defined(TESSERACT_COLLISION_COAL_ENABLE_COAL_CAST_TESTS)
 TEST(TesseractCollisionUnit, CoalContinuousBVHCollisionSphereSphereUnit)  // NOLINT
 {
   tesseract_collision_coal::CoalCastBVHManager checker;
@@ -45,6 +46,7 @@ TEST(TesseractCollisionUnit, CoalContinuousBVHCollisionSphereSphereConvexHullUni
   tesseract_collision_coal::CoalCastBVHManager checker;
   test_suite::runTest(checker, true);
 }
+#endif
 
 int main(int argc, char** argv)
 {

tesseract_collision/test/contact_managers_config_unit.cpp

@@ -110,11 +110,13 @@ TEST(TesseractCollisionUnit, CoalDiscreteBVHContactManagerConfigUnit)  // NOLINT
   test_suite::runTest(checker);
 }
 
+#if defined(TESSERACT_COLLISION_COAL_ENABLE_COAL_CAST_TESTS)
 TEST(TesseractCollisionUnit, CoalCastBVHContactManagerConfigUnit)  // NOLINT
 {
   tesseract_collision_coal::CoalCastBVHManager checker;
   test_suite::runTest(checker);
 }
+#endif
 
 TEST(TesseractCollisionUnit, CombineContactAllowedFnUnit)  // NOLINT
 {

tesseract_collision/test/contact_managers_factory_unit.cpp

@@ -82,6 +82,11 @@ void runContactManagersFactoryTest(const std::filesystem::path& config_path)
   {
     auto name = cm_it->first.as<std::string>();
 
+#if !defined(TESSERACT_COLLISION_COAL_ENABLE_COAL_CAST_TESTS)
+    if (name == "CoalCastBVHManager")
+      continue;
+#endif
+
     ContinuousContactManager::UPtr cm = factory.createContinuousContactManager(name);
     EXPECT_TRUE(cm != nullptr);
   }
@@ -203,6 +208,11 @@ TEST(TesseractContactManagersFactoryUnit, LoadStringPluginTest)  // NOLINT
   {
     auto name = cm_it->first.as<std::string>();
 
+#if !defined(TESSERACT_COLLISION_COAL_ENABLE_COAL_CAST_TESTS)
+    if (name == "CoalCastBVHManager")
+      continue;
+#endif
+
     ContinuousContactManager::UPtr cm = factory.createContinuousContactManager(name);
     EXPECT_TRUE(cm != nullptr);
   }
@@ -421,6 +431,11 @@ TEST(TesseractContactManagersFactoryUnit, LoadOnlyContinuousPluginTest)  // NOLI
   {
     auto name = cm_it->first.as<std::string>();
 
+#if !defined(TESSERACT_COLLISION_COAL_ENABLE_COAL_CAST_TESTS)
+    if (name == "CoalCastBVHManager")
+      continue;
+#endif
+
     ContinuousContactManager::UPtr cm = factory.createContinuousContactManager(name);
     EXPECT_TRUE(cm != nullptr);
   }