///Create a test harness that runs tests matching the substrings
///passed on the command line. argc and argv are interpreted as if
///they were the arguments to main. If no substrings are given
///(that is, no arguments are passed), all tests are run, as if one
///argument of an empty string had been given.
GTestHarness(int argc, char**argv)
{
//Make list of test names to match
if(argc < 2){
m_testNameSubstr.push_back("");
}else{
for(int i = 1; i < argc; ++i){
m_testNameSubstr.push_back(argv[i]);
}
}
//Ready performance stats
char buf[256];
if(GApp::appPath(buf, 256, true) == -1)
throw Ex("Failed to retrieve app path");
if(chdir(buf) != 0)
throw Ex("Failed to change the dir to the app folder");
m_testTimes.flags(std::ios::showpoint | std::ios::skipws | std::ios::dec | std::ios::fixed | std::ios::left);
m_testTimes.width(PERF_FILE_CHARS);
m_testTimes.precision(PERF_FILE_CHARS - 3);
string s;
GTime::appendTimeStampValue(&s, "-", " ", ":", false);
m_testTimes << s;
}
throw std::invalid_argument(Exception(String("joint waypoint text file must contain at least 2 'waypoint' vectors")));
init(qs,times,deltas);
}
else { // output
std::ostringstream out;
// comment header
out << "# Joint waypoint trajectory [joint positions & times (at-end)]" << std::endl;
out << "# the following line should be 'absolute' for absolute qi's & t values or 'relative' if the vectors represent inter-waypoint deltas dqi's & dt" << std::endl;
out << "absolute" << std::endl; // not "relative"
out << "# q0 q1 ... qn t" << std::endl;
std::ostream::fmtflags savedFlags = out.setf(std::ios_base::dec | std::ios_base::right);
Int savedPrec = out.precision(10);
Int savedWidth = out.width(13);
const Int dof=qs[0].size();
// this is a hack, as under gcc the flags don't appear to stay set after an output op (!?)
#define setflags \
out.setf(std::ios_base::dec | std::ios_base::right); \
out.precision(10); \
out.width(13);
setflags;
for(Int i=0; i<qs.size(); i++) {
Vector q(qs[i]);
Time t(times[i]);
for(Int e=0; e<dof; e++)
out << q[e] << " "; setflags;
