[misc] Use Ctest for managing C++ unit tests. (#475)

* [core] Always regenerate original flexible model at reset to allow manual overwrite of rigid original model.
* [misc] Use Ctest for managing C++ unit tests.

Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu>

.github/workflows/linux.yml

@@ -103,7 +103,8 @@ jobs:
       run: |
         export LD_LIBRARY_PATH="$InstallDir/lib:$InstallDir/lib64:/usr/local/lib"
 
-        ./build/unit/unit
+        cd "$RootDir/build"
+        ctest
 
         cd "$RootDir/unit_py"
         "${PYTHON_EXECUTABLE}" -m unittest discover -v

.github/workflows/macos.yml

@@ -130,7 +130,8 @@ jobs:
 
     - name: Run unit tests
       run: |
-        ./build/unit/unit
+        cd "$RootDir/build"
+        ctest
 
         cd "$RootDir/unit_py"
         "${PYTHON_EXECUTABLE}" -m unittest discover -v

.github/workflows/manylinux.yml

@@ -124,7 +124,8 @@ jobs:
 
     - name: Run unit tests
       run: |
-        ./build/unit/unit
+        cd "$RootDir/build"
+        ctest
 
         cd "$RootDir/unit_py"
         "${PYTHON_EXECUTABLE}" -m unittest discover -v

.github/workflows/ubuntu.yml

@@ -92,7 +92,8 @@ jobs:
 
     - name: Run jiminy unit tests
       run: |
-        "$RootDir/build/unit/unit"
+        cd "$RootDir/build"
+        ctest
 
         cd "$RootDir/unit_py"
         "${PYTHON_EXECUTABLE}" -m unittest discover -v

.github/workflows/win.yml

@@ -153,7 +153,8 @@ jobs:
       run: |
         $RootDir = "${env:GITHUB_WORKSPACE}" -replace '\\', '/'
 
-        & "$RootDir/build/unit\${env:BUILD_TYPE}/unit.exe"
+        Set-Location -Path "$RootDir/build"
+        ctest
 
         Set-Location -Path "$RootDir/unit_py"
         python -m unittest discover -v

CMakeLists.txt

@@ -64,6 +64,8 @@ endif()
 
 option(BUILD_TESTING "Build the C++ unit tests." ON)
 if(BUILD_TESTING)
+    include(CTest)
+    include(GoogleTest)
     add_subdirectory(unit)
 endif()
 

core/src/robot/Model.cc

@@ -387,6 +387,13 @@ namespace jiminy
 
         if (isInitialized_)
         {
+            /* Re-generate the true flexible model in case the original rigid
+               model has been manually modified by the user. */
+            if (mdlOptions_->dynamics.enableFlexibleModel)
+            {
+                generateModelFlexible();
+            }
+
             // Update the biases added to the dynamics properties of the model
             generateModelBiased();
         }

unit/CMakeLists.txt

@@ -15,8 +15,13 @@ set(UNIT_TEST_FILES
 # Create the unit test executable
 add_executable(${PROJECT_NAME} ${UNIT_TEST_FILES})
 
+# Add tests with CTest
+gtest_discover_tests(${PROJECT_NAME})
+
 # Add definition of unit test data folder
-add_definitions("-DUNIT_TEST_DATA_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/data/\"")
+target_compile_definitions(${PROJECT_NAME} PUBLIC
+    "-DUNIT_TEST_DATA_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/data/\""
+)
 
 # Link with Jiminy core library
 target_link_libraries(${PROJECT_NAME} ${LIBRARY_NAME}_core)
@@ -33,5 +38,3 @@ target_link_libraries(${PROJECT_NAME} "${CMAKE_THREAD_LIBS_INIT}")
 set_property(TARGET ${PROJECT_NAME} PROPERTY
     MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>DLL"
 )
-include(CTest)
-enable_testing()