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wscript
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#! /usr/bin/env python
#| This file is a part of the sferes2 framework.
#| Copyright 2009, ISIR / Universite Pierre et Marie Curie (UPMC)
#| Main contributor(s): Jean-Baptiste Mouret, [email protected]
#|
#| This software is a computer program whose purpose is to facilitate
#| experiments in evolutionary computation and evolutionary robotics.
#|
#| This software is governed by the CeCILL license under French law
#| and abiding by the rules of distribution of free software. You
#| can use, modify and/ or redistribute the software under the terms
#| of the CeCILL license as circulated by CEA, CNRS and INRIA at the
#| following URL "http://www.cecill.info".
#|
#| As a counterpart to the access to the source code and rights to
#| copy, modify and redistribute granted by the license, users are
#| provided only with a limited warranty and the software's author,
#| the holder of the economic rights, and the successive licensors
#| have only limited liability.
#|
#| In this respect, the user's attention is drawn to the risks
#| associated with loading, using, modifying and/or developing or
#| reproducing the software by the user in light of its specific
#| status of free software, that may mean that it is complicated to
#| manipulate, and that also therefore means that it is reserved for
#| developers and experienced professionals having in-depth computer
#| knowledge. Users are therefore encouraged to load and test the
#| software's suitability as regards their requirements in conditions
#| enabling the security of their systems and/or data to be ensured
#| and, more generally, to use and operate it in the same conditions
#| as regards security.
#|
#| The fact that you are presently reading this means that you have
#| had knowledge of the CeCILL license and that you accept its terms.
import sys
import os
import sferes
sys.path.insert(0, sys.path[0]+'/waf_tools')
print sys.path[0]
from waflib.Configure import conf
import robdyn
import hexapod_controller
def options(opt) :
opt.load('ode')
opt.load('robdyn')
opt.load('hexapod_controller')
opt.load('hexapod_robdyn_simu')
@conf
def configure(conf):
print 'conf exp:'
conf.load('ode')
conf.load('robdyn')
conf.load('hexapod_controller')
conf.load('hexapod_robdyn_simu')
conf.check_ode()
conf.check_robdyn()
conf.check_hexapod_controller()
conf.check_hexapod_robdyn_simu()
def build(bld):
libs = 'HEXAPOD_ROBDYN_SIMU HEXAPOD_CONTROLLER ROBDYN ODE EIGEN BOOST BOOST_UNIT_TEST_FRAMEWORK BOOST_TIMER TBB '
print ("Entering directory `" + os.getcwd() + "/modules/'")
bld.program(features = 'cxx',
source = 'test_qd.cpp',
includes = '. ../../',
uselib = 'EIGEN BOOST BOOST_UNIT_TEST_FRAMEWORK TBB ',
use = 'sferes2',
target = 'test_qd')
bld.program(features='cxx cxxstlib',
source='scenarii/arm_hori.cpp',
includes='. .. ../../',
target='robot',
uselib=libs)
varts=['GRID RANDOM','GRID NOSELECTION', 'GRID PARETO',
'GRID FITNESS', 'GRID NOVELTY', 'GRID CURIOSITY',
'GRID POPFITNESS', 'GRID POPNOVELTY', 'GRID POPCURIOSITY',
'GRID TOURFITNESS', 'GRID TOURNOVELTY', 'GRID TOURCURIOSITY',
'ARCHIVE RANDOM','ARCHIVE NOSELECTION', 'ARCHIVE PARETO',
'ARCHIVE FITNESS','ARCHIVE NOVELTY','ARCHIVE CURIOSITY',
'ARCHIVE POPFITNESS','ARCHIVE POPNOVELTY','ARCHIVE POPCURIOSITY',
'ARCHIVE TOURFITNESS','ARCHIVE TOURNOVELTY','ARCHIVE TOURCURIOSITY']
sferes.create_variants(bld,
source = 'scenarii/scenario_arm.cpp',
use = 'sferes2 robot',
includes='. .. ../../ ./scenarii/',
uselib = libs,
target = 'scenario_arm',
variants = varts)
if(bld.env.DEFINES_ROBDYN == 'USE_ROBDYN'):
sferes.create_variants(bld,
source = 'scenarii/scenario_hexa_turn.cpp',
use = 'sferes2',
uselib = libs,
target = 'scenario_hexa_turn',
variants = varts)
sferes.create_variants(bld,
source = 'scenarii/scenario_hexa_walk.cpp',
use = 'sferes2',
uselib = libs,
target = 'scenario_hexa_walk',
variants = varts)