make failure; test cases failures #1
Description
Hello, I have built this repo following the instructions.
While as i make in /build
the test cases has failures in motors and rotors; therefore i can not sudo make install it
I have already cloned the newest repo of gafro in gitlab, while this issue is still not resolved.
Having strong interests in both geometric algebra and robotics, I am a big fan of this work. Really excited to see this work!!
The detail log is shown below. Hope this will be helpful for your team.
I built this in my docker container, having ros2 humble environment with cmake version 3.22.1.
`root@0d5d6039b884:/ros2_docker_ws/gafro/build# cmake ../ros2_docker_ws/gafro/build# make
-- Configuring done
-- Generating done
-- Build files have been written to: /root/ros2_docker_ws/gafro/build
root@0d5d6039b884:
Consolidate compiler generated dependencies of target unittests
[ 96%] Built target unittests
[100%] Unit testing...
unittests is a Catch v2.13.10 host application.
Run with -? for options
-------------------------------------------------------------------------------
Default motor
to point pair
-------------------------------------------------------------------------------
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:179
...............................................................................
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:190: FAILED:
REQUIRE( resultPoint1.get<blades::e1>() == Approx(p1.get<blades::e1>()) )
with expansion:
0.5 == Approx( 0.0 )
-------------------------------------------------------------------------------
Motor with translation
to point pair
-------------------------------------------------------------------------------
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:408
...............................................................................
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:419: FAILED:
REQUIRE( resultPoint1.get<blades::e1>() == Approx(0.0) )
with expansion:
0.5 == Approx( 0.0 )
-------------------------------------------------------------------------------
Motor with rotation
to point pair
-------------------------------------------------------------------------------
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:637
...............................................................................
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:648: FAILED:
REQUIRE( resultPoint1.get<blades::e1>() == Approx(0.0) )
with expansion:
0.0 == Approx( 0.0 )
-------------------------------------------------------------------------------
Motor with translation & rotation
to point pair
-------------------------------------------------------------------------------
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:867
...............................................................................
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:878: FAILED:
REQUIRE( resultPoint1.get<blades::e1>() == Approx(0.0) )
with expansion:
0.0 == Approx( 0.0 )
-------------------------------------------------------------------------------
Motor creation from generator
rotor
-------------------------------------------------------------------------------
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:971
...............................................................................
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:975: FAILED:
REQUIRE( rotor.scalar() == Approx(0.707107) )
with expansion:
0.7602445971 == Approx( 0.707107 )
-------------------------------------------------------------------------------
Motor creation from generator
translator
-------------------------------------------------------------------------------
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:981
...............................................................................
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:985: FAILED:
REQUIRE( translator.get<blades::scalar>() == Approx(1.0) )
with expansion:
1.0986282114 == Approx( 1.0 )
-------------------------------------------------------------------------------
Motor creation from motor
rotor
-------------------------------------------------------------------------------
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:998
...............................................................................
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:1002: FAILED:
REQUIRE( rotor.scalar() == Approx(0.707107) )
with expansion:
0.7602445971 == Approx( 0.707107 )
-------------------------------------------------------------------------------
Motor creation from motor
translator
-------------------------------------------------------------------------------
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:1008
...............................................................................
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:1012: FAILED:
REQUIRE( translator.get<blades::scalar>() == Approx(1.0) )
with expansion:
1.0986282114 == Approx( 1.0 )
-------------------------------------------------------------------------------
Motor assignation from motor
rotor
-------------------------------------------------------------------------------
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:1025
...............................................................................
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:1029: FAILED:
REQUIRE( rotor.scalar() == Approx(0.707107) )
with expansion:
0.7602445971 == Approx( 0.707107 )
-------------------------------------------------------------------------------
Motor assignation from motor
translator
-------------------------------------------------------------------------------
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:1035
...............................................................................
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:1039: FAILED:
REQUIRE( translator.get<blades::scalar>() == Approx(1.0) )
with expansion:
1.0986282114 == Approx( 1.0 )
-------------------------------------------------------------------------------
Motor exponential
-------------------------------------------------------------------------------
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:1238
...............................................................................
/root/ros2_docker_ws/gafro/tests/algebra/Motor.cpp:1244: FAILED:
REQUIRE( exp.get<blades::scalar>() == Approx(0.7071067812) )
with expansion:
0.7602445971 == Approx( 0.7071067812 )
-------------------------------------------------------------------------------
PointPair creation from points
-------------------------------------------------------------------------------
/root/ros2_docker_ws/gafro/tests/algebra/PointPair.cpp:39
...............................................................................
/root/ros2_docker_ws/gafro/tests/algebra/PointPair.cpp:59: FAILED:
REQUIRE( p1b.get<blades::e1>() == Approx(p1.get<blades::e1>()) )
with expansion:
1.0010291596 == Approx( 1.0 )
-------------------------------------------------------------------------------
Rotor get log (with angle)
-------------------------------------------------------------------------------
/root/ros2_docker_ws/gafro/tests/algebra/Rotor.cpp:118
...............................................................................
/root/ros2_docker_ws/gafro/tests/algebra/Rotor.cpp:125: FAILED:
REQUIRE( log.e23() == Approx(3.14159265358979323846 / 2.0) )
with expansion:
-0.7071067812 == Approx( 1.5707963268 )
-------------------------------------------------------------------------------
Rotor apply
to point pair
-------------------------------------------------------------------------------
/root/ros2_docker_ws/gafro/tests/algebra/Rotor.cpp:275
...............................................................................
/root/ros2_docker_ws/gafro/tests/algebra/Rotor.cpp:286: FAILED:
REQUIRE( resultPoint1.get<blades::e1>() == Approx(0.0) )
with expansion:
0.0 == Approx( 0.0 )
===============================================================================
test cases: 152 | 141 passed | 11 failed
assertions: 3508 | 3494 passed | 14 failed
make[2]: *** [tests/CMakeFiles/run-unittests.dir/build.make:71: tests/CMakeFiles/run-unittests] Error 14
make[1]: *** [CMakeFiles/Makefile2:350: tests/CMakeFiles/run-unittests.dir/all] Error 2
make: *** [Makefile:136: all] Error 2`