Fix multiprecision test

.github/workflows/ccpp.yml

@@ -34,7 +34,7 @@ jobs:
         export MAKEFLAGS="-j2"
         mkdir build
         cd build
-        cmake .. -DCMAKE_BUILD_TYPE=Debug -DBUILD_WITH_COLLISION_SUPPORT=ON -DPYTHON_EXECUTABLE=$(which python2)
+        cmake .. -DCMAKE_BUILD_TYPE=Debug -DBUILD_WITH_COLLISION_SUPPORT=ON -DPYTHON_EXECUTABLE=$(which python2) -DBUILD_ADVANCED_TESTING=ON
         make
         make build_tests
         export CTEST_OUTPUT_ON_FAILURE=1

.travis.yml

@@ -53,7 +53,7 @@ install:
   - pip install --user pyopenssl
   - pip install --user numpy
 script:
-  - export CMAKE_ADDITIONAL_OPTIONS="-DCMAKE_BUILD_TYPE=${BUILDTYPE} -DBUILD_WITH_COLLISION_SUPPORT=${BUILD_WITH_COLLISION_SUPPORT}"
+  - export CMAKE_ADDITIONAL_OPTIONS="-DCMAKE_BUILD_TYPE=${BUILDTYPE} -DBUILD_WITH_COLLISION_SUPPORT=${BUILD_WITH_COLLISION_SUPPORT} -DBUILD_ADVANCED_TESTING=ON"
   - sudo free -m -t
   - travis_wait 60 ./.travis/run ../travis_custom/custom_build
 after_failure: ./.travis/run after_failure

CMakeLists.txt

@@ -54,6 +54,8 @@ IF(DEFINED BUILD_UNIT_TESTS)
   SET(BUILD_TESTING ${BUILD_UNIT_TESTS})
 ENDIF(DEFINED BUILD_UNIT_TESTS)
 
+OPTION(BUILD_ADVANCED_TESTING "Build the advanced tests (multiprecision, etc.) of Pinocchio" OFF)
+
 # --- OPTIONAL DEPENDENCIES -------------------------
 OPTION(BUILD_WITH_URDF_SUPPORT "Build the library with the URDF format support" ON)
 OPTION(BUILD_WITH_COLLISION_SUPPORT "Build the library with the Collision support (required HPP-FCL)" OFF)

examples/CMakeLists.txt

@@ -31,9 +31,14 @@ SET(${PROJECT_NAME}_EXAMPLES
   kinematics-derivatives
   forward-dynamics-derivatives
   inverse-dynamics-derivatives
-  multiprecision
   )
 
+IF(BUILD_ADVANCED_TESTING)
+  LIST(APPEND ${PROJECT_NAME}_EXAMPLES
+    multiprecision
+    )
+ENDIF(BUILD_ADVANCED_TESTING)
+
 IF(HPP_FCL_FOUND)
   LIST(APPEND ${PROJECT_NAME}_EXAMPLES
     collisions

unittest/CMakeLists.txt

@@ -122,7 +122,9 @@ ADD_PINOCCHIO_UNIT_TEST(center-of-mass-derivatives)
 ADD_PINOCCHIO_UNIT_TEST(contact-dynamics-derivatives)
 
 # Multiprecision arithmetic
-ADD_PINOCCHIO_UNIT_TEST(multiprecision)
+IF(BUILD_ADVANCED_TESTING)
+  ADD_PINOCCHIO_UNIT_TEST(multiprecision)
+ENDIF(BUILD_ADVANCED_TESTING)
 
 # Automatic differentiation
 IF(BUILD_WITH_AUTODIFF_SUPPORT)

unittest/multiprecision.cpp

@@ -2,7 +2,6 @@
 // Copyright (c) 2020 INRIA
 //
 
-#include "pinocchio/parsers/urdf.hpp"
 #include "pinocchio/algorithm/rnea.hpp"
 #include "pinocchio/algorithm/aba.hpp"
 #include "pinocchio/algorithm/jacobian.hpp"
@@ -69,10 +68,9 @@ BOOST_AUTO_TEST_CASE(test_cast)
 BOOST_AUTO_TEST_CASE(test_mutliprecision)
 {
   using namespace pinocchio;
-  const std::string urdf_filename = PINOCCHIO_MODEL_DIR + std::string("/others/robots/talos_data/urdf/talos_reduced.urdf");
-
+
   Model model;
-  pinocchio::urdf::buildModel(urdf_filename, model);
+  pinocchio::buildModels::humanoidRandom(model);
   Data data(model);
 
   model.lowerPositionLimit.head<3>().fill(-1.);