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name: MATLAB tests | ||
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on: | ||
push: | ||
branches: | ||
- main | ||
pull_request: | ||
branches: | ||
- main | ||
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jobs: | ||
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run-matlab-test: | ||
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name: Install dependencies and run MATLAB tests | ||
strategy: | ||
fail-fast: false | ||
matrix: | ||
os: [ubuntu-latest, windows-latest, macos-latest] | ||
matlab_version: [R2022a] | ||
runs-on: ${{ matrix.os }} | ||
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steps: | ||
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- name: Check out repository | ||
uses: actions/checkout@v2 | ||
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- name: Install MATLAB | ||
uses: matlab-actions/setup-matlab@v1 | ||
with: | ||
release: ${{ matrix.matlab_version }} | ||
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- name: Install mystica | ||
uses: matlab-actions/run-command@v1 | ||
with: | ||
command: | | ||
install('env_name','imorph') | ||
# workaround for https://github.com/robotology/robotology-superbuild/issues/64 and https://github.com/ami-iit/mystica/issues/6 | ||
- name: Do not use MATLAB's stdc++ to avoid incompatibilities with other libraries | ||
if: contains(matrix.os, 'ubuntu') | ||
run: | ||
echo "LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6" >> $GITHUB_ENV | ||
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- name: Run MATLAB tests | ||
uses: matlab-actions/run-command@v1 | ||
with: | ||
command: | | ||
run(fullfile('deps','setup')) | ||
model = mystica.model.getModel4BarLinkage(); | ||
stgs = mystica.stgs.getDefaultSettingsSimKinRel(model,'stgs_integrator_limitMaximumTime',1); | ||
data = mystica.runSimKinRel('model',model,'stgs',stgs,'mBodyPosQuat_0',model.getMBodyPosQuatRestConfiguration,'nameControllerClass','mystica.controller.ExampleKinRel'); |
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