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7ee9ca6
Uncommented some tests
ThomasDuquette May 15, 2026
293d4be
Merge remote-tracking branch 'origin/main' into Thomas/Re-enable-tests
ThomasDuquette May 15, 2026
d6c2fe0
uncommented & fixed test_objmatrix
ThomasDuquette May 15, 2026
f4c3962
Moved rpy <-> rotation matrix test to misc test
ThomasDuquette May 15, 2026
c7ec7fb
Cleaned up manipulators + uncommented Gen3 test
ThomasDuquette May 15, 2026
1b1695c
Merge remote-tracking branch 'origin/main' into Thomas/Re-enable-tests
ThomasDuquette May 15, 2026
86328be
Started UR5e test but bug was found
ThomasDuquette May 15, 2026
998000c
Merge branch 'main' of github.com:Dynamium-Lab/blast into Thomas/Re-e…
Nikos-d Jun 1, 2026
1ac3af3
Fixed UR5e bug from merge
Nikos-d Jun 1, 2026
7dd3b3b
Few cleanups/fixes
Nikos-d Jun 1, 2026
e08ad0d
style: apply clang-format
Nikos-d Jun 1, 2026
e771c9c
Added/modified tests
Nikos-d Jun 3, 2026
d136ce6
style: apply clang-format
Nikos-d Jun 3, 2026
7ac5cc7
removed test_helper
Nikos-d Jun 3, 2026
02e43a2
Merge branch 'Thomas/Re-enable-tests' of github.com:Dynamium-Lab/blas…
Nikos-d Jun 3, 2026
85b3ee1
style: apply clang-format
Nikos-d Jun 3, 2026
cf3e442
Fix + add manip constructor test
Nikos-d Jun 3, 2026
a854872
style: apply clang-format
Nikos-d Jun 3, 2026
90045f8
utilities include fix
Nikos-d Jun 3, 2026
ba8af18
Merge branch 'Thomas/Re-enable-tests' of github.com:Dynamium-Lab/blas…
Nikos-d Jun 3, 2026
c1c55f8
Fix in adding payload + tool
Nikos-d Jun 3, 2026
703b636
minor change
Nikos-d Jun 3, 2026
eb9a888
proposed fix for missing dll in tests
Nikos-d Jun 4, 2026
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31 changes: 6 additions & 25 deletions .github/workflows/cmake-multi-platform.yml
Original file line number Diff line number Diff line change
Expand Up @@ -15,44 +15,25 @@ jobs:
strategy:
fail-fast: false
matrix:
os: [ubuntu-latest, windows-latest]
build_type: [Release]
c_compiler: [gcc, clang, cl]
include:
- os: windows-latest
c_compiler: cl
cpp_compiler: cl
- os: ubuntu-latest
c_compiler: gcc
cpp_compiler: g++
preset: ci-gcc
- os: ubuntu-latest
c_compiler: clang
cpp_compiler: clang++
exclude:
- os: windows-latest
c_compiler: gcc
preset: ci-clang
- os: windows-latest
c_compiler: clang
- os: ubuntu-latest
c_compiler: cl
preset: ci

steps:
- uses: actions/checkout@v4

- name: Configure CMake
run: >
cmake -B ${{ github.workspace }}/build
-DCMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }}
-DCMAKE_C_COMPILER=${{ matrix.c_compiler }}
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
-S ${{ github.workspace }}
run: cmake --preset ${{ matrix.preset }}

- name: Build
run: cmake --build ${{ github.workspace }}/build --config ${{ matrix.build_type }}
run: cmake --build --preset ${{ matrix.preset }}

- name: Test
working-directory: ${{ github.workspace }}/build
run: ctest --build-config ${{ matrix.build_type }} --output-on-failure
run: ctest --preset ${{ matrix.preset }}

# -------------------------------------------------------------------------
# Install + consumer smoke test
Expand Down
75 changes: 68 additions & 7 deletions CMakePresets.json
Original file line number Diff line number Diff line change
@@ -1,16 +1,19 @@
{
"version": 6,
"configurePresets": [
{
"name": "base",
"hidden": true,
"cacheVariables": {
"BUILD_SHARED_LIBS": "OFF"
}
},
{
"name": "dev",
"inherits": "base",
"displayName": "Developer build (Linux/macOS)",
"description": "RelWithDebInfo, native tuning, compile-commands for tooling",
"binaryDir": "${sourceDir}/build/${presetName}",
"condition": {
"type": "notEquals",
"lhs": "${hostSystemName}",
"rhs": "Windows"
},
"cacheVariables": {
"CMAKE_BUILD_TYPE": "RelWithDebInfo",
"CMAKE_CXX_FLAGS": "-march=native",
Expand All @@ -19,6 +22,7 @@
},
{
"name": "dev-msvc",
"inherits": "base",
"displayName": "Developer build (Windows/MSVC)",
"description": "RelWithDebInfo with AVX2, compile-commands for tooling",
"binaryDir": "${sourceDir}/build/${presetName}",
Expand All @@ -35,13 +39,34 @@
},
{
"name": "ci",
"displayName": "CI build",
"inherits": "base",
"displayName": "CI build (MSVC/default)",
"description": "Release build without machine-specific tuning",
"binaryDir": "${sourceDir}/build/${presetName}",
"cacheVariables": {
"CMAKE_BUILD_TYPE": "Release",
"CMAKE_EXPORT_COMPILE_COMMANDS": "ON"
}
},
{
"name": "ci-gcc",
"inherits": "ci",
"displayName": "CI build (GCC)",
"binaryDir": "${sourceDir}/build/${presetName}",
"cacheVariables": {
"CMAKE_C_COMPILER": "gcc",
"CMAKE_CXX_COMPILER": "g++"
}
},
{
"name": "ci-clang",
"inherits": "ci",
"displayName": "CI build (Clang)",
"binaryDir": "${sourceDir}/build/${presetName}",
"cacheVariables": {
"CMAKE_C_COMPILER": "clang",
"CMAKE_CXX_COMPILER": "clang++"
}
}
],
"buildPresets": [
Expand All @@ -58,6 +83,42 @@
"name": "ci",
"configurePreset": "ci",
"configuration": "Release"
},
{
"name": "ci-gcc",
"configurePreset": "ci-gcc",
"configuration": "Release"
},
{
"name": "ci-clang",
"configurePreset": "ci-clang",
"configuration": "Release"
}
],
"testPresets": [
{
"name": "ci",
"configurePreset": "ci",
"configuration": "Release",
"output": {
"outputOnFailure": true
}
},
{
"name": "ci-gcc",
"configurePreset": "ci-gcc",
"configuration": "Release",
"output": {
"outputOnFailure": true
}
},
{
"name": "ci-clang",
"configurePreset": "ci-clang",
"configuration": "Release",
"output": {
"outputOnFailure": true
}
}
]
}
}
4 changes: 4 additions & 0 deletions blast/blast
Original file line number Diff line number Diff line change
Expand Up @@ -74,3 +74,7 @@ using i64 = int64_t;
#include "blast_manipulator.hpp"
#include "blast_optimization.hpp"
#include "blast_trajectory.hpp"

#include "utilities/file_io.hpp"
#include "utilities/is_close.hpp"
#include "utilities/print.hpp"
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