poftwaresatent / minitao

Minimal TAO with joint-space dynamics wrappers. This was based on stanford-wbc-0.5 and used for headless simulation. One of the main goals was to clean out accumulated gruft from the original TAO dynamics engine, do proper coverage testing, and work on more streamlined and convenient data structures, and possibly better support spherical joints that use quaternions (where the number of positional parameters is 4 but for velocities it's 3). Hosted on gitorious.org until they got bought, copied here mainly for archival purposes.

How to build MiniTAO

1. Get tools and dependencies.

   • CMake
   • Eigen2 http://eigen.tuxfamily.org/ (or just "sudo apt-get install libeigen2-dev")
   • Google Testing Framework
   • ...maybe others (work in progress)

2. Configure and build.

   mkdir build cd build cmake .. make

3. Test.

   ./tests/testTAO ./tests/testMiniTAO

How to run coverage test on MiniTAO

You need lcov from http://ltp.sourceforge.net/coverage/lcov.php (something like "sudo apt-get install lcov" should do the trick).

1. Compile fresh binaries with gcov support.

   cd /path/to/minitao mkdir build cd build cmake -DCOVERAGE=true .. make

2. Reset the lcov counters.

   cd /path/to/minitao lcov --directory build --zerocounters

3. Run the unit tests (and other things that exercise those parts of the code that you actually need).

   cd /path/to/minitao/build ./tests/testTAO ./tests/testMiniTAO

4. Let loose lcov and genhtml (the latter comes with lcov).

   cd /path/to/minitao lcov --directory build --capture --output-file cov.info genhtml cov.info -o cov/

5. Browse results: open cov/index.html in your favorite browser.