Use gtest_main (#856)

unittests/CMakeLists.txt

@@ -71,9 +71,13 @@ function(dart_add_test test_type target_name) # ARGN for source files
     "${DART_TEST_OUT_DIR}/${test_type}/${target_name}")
 
   if(MSVC)
-    target_link_libraries(${target_name} dart optimized gtest debug gtestd)
+    target_link_libraries(${target_name}
+        dart
+        optimized gtest debug gtestd
+        optimized gtest_main debug gtest_maind
+    )
   else()
-    target_link_libraries(${target_name} dart gtest)
+    target_link_libraries(${target_name} dart gtest gtest_main)
   endif()
 
   set_target_properties(

unittests/comprehensive/test_Building.cpp

@@ -107,10 +107,3 @@ TEST(BUILDING, BASIC)
   for (int i = 0; i < nSteps; ++i)
       world->step();
 }
-
-/******************************************************************************/
-int main(int argc, char* argv[])
-{
-	::testing::InitGoogleTest(&argc, argv);
-	return RUN_ALL_TESTS();
-}

unittests/comprehensive/test_Collision.cpp

@@ -1174,11 +1174,3 @@ TEST_F(COLLISION, CollisionOfPrescribedJoints)
     EXPECT_NEAR(joint6->getAcceleration(0), 0.0, tol);
   }
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}
-

unittests/comprehensive/test_Common.cpp

@@ -68,11 +68,3 @@ TEST(Common, Timer)
   EXPECT_GE(timer2.getTotalElapsedTime(), 2.0);
 #endif
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}
-

unittests/comprehensive/test_Concurrency.cpp

@@ -76,10 +76,3 @@ TEST(Concurrency, FrameDeletion)
   EXPECT_EQ(Frame::World()->getNumChildEntities(), 0);
   EXPECT_EQ(Frame::World()->getNumChildFrames(), 0);
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/comprehensive/test_Constraint.cpp

@@ -229,11 +229,3 @@ TEST_F(ConstraintTest, SingleContactTest)
 
   SingleContactTest(getList()[0]);
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}
-

unittests/comprehensive/test_Distance.cpp

@@ -289,10 +289,3 @@ TEST(Distance, SphereSphere)
   auto dart = DARTCollisionDetector::create();
   testSphereSphere(dart);
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/comprehensive/test_Dynamics.cpp

@@ -2129,10 +2129,3 @@ TEST_F(DynamicsTest, HybridDynamics)
     EXPECT_NEAR(command(i,4), output(i,4), tol);
   }
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/comprehensive/test_ForwardKinematics.cpp

@@ -247,10 +247,3 @@ TEST(FORWARD_KINEMATICS, JACOBIAN_END_EFFECTOR_CHANGE)
 
   EXPECT_TRUE((fd_J - J).norm() < tolerance);
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/comprehensive/test_Frames.cpp

@@ -737,11 +737,3 @@ TEST(FRAMES, CHILDHOOD)
 
   EXPECT_TRUE(F1.getNumChildFrames() == 1);
 }
-
-int main(int argc, char* argv[])
-{
-  srand(271828); // Seed with an arbitrary fixed integer. Don't seed with time,
-                 // because it will produce different numbers between runs.
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/comprehensive/test_InverseKinematics.cpp

@@ -247,10 +247,3 @@ SkeletonPtr createFreeFloatingTwoLinkRobot(Vector3d dim1,
 //  }
 //}
 #endif
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/comprehensive/test_Joints.cpp

@@ -1299,11 +1299,3 @@ TEST_F(JOINTS, FREE_JOINT_RELATIVE_TRANSFORM_VELOCITY_ACCELERATION)
     }
   }
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}
-

unittests/comprehensive/test_NameManagement.cpp

@@ -417,10 +417,3 @@ TEST(NameManagement, JointDegreeOfFreedom)
   EXPECT_TRUE( joint->getDof(1)->getName() == "j_bicep_left_y" );
   EXPECT_TRUE( joint->getDof(2)->getName() == "j_bicep_left_z" );
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/comprehensive/test_Skeleton.cpp

@@ -1288,9 +1288,3 @@ TEST(Skeleton, Updating)
   EXPECT_FALSE(originalMass == newMass);
   EXPECT_TRUE(newMass == originalMass - removedMass);
 }
-
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/comprehensive/test_SoftDynamics.cpp

@@ -457,10 +457,3 @@ TEST_F(SoftDynamicsTest, compareEquationsOfMotion)
 //    compareEquationsOfMotion(getList()[i]);
 //  }
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-	::testing::InitGoogleTest(&argc, argv);
-	return RUN_ALL_TESTS();
-}

unittests/comprehensive/test_World.cpp

@@ -302,10 +302,3 @@ TEST(World, ValidatingClones)
     }
   }
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/regression/test_Issue000Template.cpp

@@ -40,10 +40,3 @@ TEST(Issue000Template, Basic)
 {
   // Add test code here
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/unit/CMakeLists.txt

@@ -9,7 +9,6 @@ dart_add_test("unit" test_ScrewJoint)
 dart_add_test("unit" test_Signal)
 dart_add_test("unit" test_Subscriptions)
 dart_add_test("unit" test_Uri)
-dart_add_test("unit" test_Utilities)
 
 if(TARGET dart-optimizer-ipopt)
   target_link_libraries(test_Optimizer dart-optimizer-ipopt)

unittests/unit/test_Aspect.cpp

@@ -977,9 +977,3 @@ TEST(Aspect, Embedded)
   EmbeddedStateComposite s_constructed(state);
   EXPECT_EQ(s_constructed.get<EmbeddedStateComposite::Aspect>()->getState(), state);
 }
-
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/unit/test_CompositeResourceRetriever.cpp

@@ -185,9 +185,3 @@ TEST(CompositeResourceRetriever, retrieve_DefaultResourceRetrieverSucceeds_Retur
   EXPECT_TRUE(retriever3->mExists.empty());
   EXPECT_TRUE(retriever3->mRetrieve.empty());
 }
-
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/unit/test_ContactConstraint.cpp

@@ -83,10 +83,3 @@ TEST(ContactConstraint, ContactWithKinematicJoint)
       EXPECT_NEAR(bodyNode2->getLinearVelocity()[0], 0.1, 1e-6);
   }
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/unit/test_DartLoader.cpp

@@ -84,9 +84,3 @@ TEST(DartLoader, parseWorld)
   EXPECT_TRUE(nullptr !=
       loader.parseWorld(DART_DATA_PATH"urdf/test/testWorld.urdf"));
 }
-
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/unit/test_FileInfoWorld.cpp

@@ -129,10 +129,3 @@ TEST(FileInfoWorld, Basic)
     }
   }
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/unit/test_GenericJoints.cpp

@@ -214,10 +214,3 @@ TEST(GenericJoint, Basic)
   MultiDofJointTest genericJoint;
   SO3JointTest so3Joint;
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/unit/test_Geometry.cpp

@@ -593,12 +593,3 @@ TEST(LIE_GROUP_OPERATORS, ADJOINT_MAPPINGS)
             EXPECT_NEAR(dad_V_F(j), dadV_Matrix_F(j), LIE_GROUP_OPT_TOL);
     }
 }
-
-/******************************************************************************/
-int main(int argc, char* argv[])
-{
-	::testing::InitGoogleTest(&argc, argv);
-	return RUN_ALL_TESTS();
-}
-
-

unittests/unit/test_LocalResourceRetriever.cpp

@@ -155,9 +155,3 @@ TEST(LocalResourceRetriever, retrieve_ResourceOperations)
   ASSERT_EQ(1u, resource->read(buffer.data(), content.size(), 1));
   EXPECT_STREQ(content.c_str(), buffer.data());
 }
-
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/unit/test_Math.cpp

@@ -1293,10 +1293,3 @@ TEST(MATH, PerformanceComparisonOfAdTJac)
   // Note: The best function for dynamic size Jacobian is AdTJac2, and the best
   //       function for fixed size Jacobian is AdTJac3
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/unit/test_NearestNeighbor.cpp

@@ -49,9 +49,3 @@ TEST(NEAREST_NEIGHBOR, 2D) {
     EXPECT_TRUE(equality);
 }
 #endif // HAVE_FLANN
-
-/* ********************************************************************************************* */
-int main(int argc, char* argv[]) {
-    ::testing::InitGoogleTest(&argc, argv);
-    return RUN_ALL_TESTS();
-}

unittests/unit/test_Optimizer.cpp

@@ -299,10 +299,3 @@ TEST(Optimizer, OutStream)
 
   std::remove(outputFile.c_str());
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/unit/test_PackageResourceRetriever.cpp

@@ -236,9 +236,3 @@ TEST(PackageResourceRetriever, retrieve_FallsBackOnSecondUri)
   EXPECT_EQ(expected1, mockRetriever->mRetrieve[0]);
   EXPECT_EQ(expected2, mockRetriever->mRetrieve[1]);
 }
-
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/unit/test_ScrewJoint.cpp

@@ -70,11 +70,3 @@ TEST(ScrewJoint, ThreadPitch)
   expectedDiff = axis*pitch*angle/2.0_pi;
   EXPECT_TRUE(diff.isApprox(expectedDiff));
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}
-

unittests/unit/test_SdfParser.cpp

@@ -136,10 +136,3 @@ TEST(SdfParser, ReadMaterial)
   }
 
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/unit/test_Signal.cpp

@@ -326,11 +326,3 @@ TEST(Signal, FrameSignals)
 
   F3.setParentFrame(&F1);
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}
-

unittests/unit/test_SkelParser.cpp

@@ -525,10 +525,3 @@ TEST(SkelParser, Shapes)
   skel = world->getSkeleton("mesh skeleton");
   EXPECT_NE(skel, nullptr);
 }
-
-//==============================================================================
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/unit/test_Subscriptions.cpp

@@ -71,9 +71,3 @@ TEST(Subjects, ImplicitConversion)
 
   delete entity_ptr;
 }
-
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

unittests/unit/test_Uri.cpp

@@ -334,9 +334,3 @@ TEST(UriHelpers, getRelativeUri)
   EXPECT_EQ("http://a/b/c/g", mergedUri.toString());
 #endif
 }
-
-int main(int argc, char* argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}