forked from pz4kybsvg/Conception
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88 lines
2.1 KiB
88 lines
2.1 KiB
2 years ago
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load(
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"@drake//tools/skylark:drake_cc.bzl",
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"drake_cc_binary",
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"drake_cc_googletest",
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"drake_cc_library",
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)
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load("//tools/lint:lint.bzl", "add_lint_tests")
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load(
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"@drake//tools/vector_gen:vector_gen.bzl",
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"drake_cc_vector_gen_library",
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)
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package(default_visibility = ["//visibility:private"])
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drake_cc_vector_gen_library(
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name = "compass_gait_vector_types",
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srcs = [
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"compass_gait_continuous_state_named_vector.yaml",
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"compass_gait_params_named_vector.yaml",
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],
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visibility = ["//visibility:public"],
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)
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drake_cc_library(
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name = "compass_gait",
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srcs = ["compass_gait.cc"],
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hdrs = [
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"compass_gait.h",
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],
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visibility = ["//visibility:public"],
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deps = [
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":compass_gait_vector_types",
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"//common:default_scalars",
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"//common:essential",
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"//systems/framework:leaf_system",
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],
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)
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drake_cc_library(
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name = "compass_gait_geometry",
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srcs = ["compass_gait_geometry.cc"],
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hdrs = ["compass_gait_geometry.h"],
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visibility = ["//visibility:public"],
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deps = [
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":compass_gait",
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"//geometry:geometry_roles",
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"//geometry:scene_graph",
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"//math:geometric_transform",
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"//systems/framework:diagram_builder",
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"//systems/framework:leaf_system",
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],
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)
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drake_cc_binary(
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name = "simulate",
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srcs = ["simulate.cc"],
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add_test_rule = 1,
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test_rule_args = ["--target_realtime_rate=0.0"],
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deps = [
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":compass_gait",
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":compass_gait_geometry",
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"//geometry:drake_visualizer",
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"//systems/analysis:simulator",
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"//systems/framework:diagram_builder",
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"@gflags",
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],
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)
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drake_cc_googletest(
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name = "compass_gait_test",
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deps = [
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":compass_gait",
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"//common/test_utilities:eigen_matrix_compare",
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"//common/test_utilities:expect_no_throw",
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"//systems/framework/test_utilities:scalar_conversion",
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],
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)
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drake_cc_googletest(
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name = "compass_gait_geometry_test",
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deps = [
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":compass_gait",
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":compass_gait_geometry",
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],
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)
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add_lint_tests()
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