Add MATLAB Unit Tests and GitHub CI

+urdf2casadi/+Identification/computeSymbolicStackOfRegressorsTransposed.m

@@ -15,7 +15,7 @@
 disp('Computing the regressor...')
 tic
 % Compute the symbolic regressor 
-Y_transposed = computeSymbolicRegressor(q(1,:).', qd(1,:).', qdd(1,:).', g, smds,regressor_opts);
+Y_transposed = urdf2casadi.Identification.auxiliarySymbolicDynamicsFunctions.computeSymbolicRegressor(q(1,:).', qd(1,:).', qdd(1,:).', g, smds,regressor_opts);
 % Stack of regressors, one per trajectory point
 stackOfRegressorsTransposed = Y_transposed.map(nrOfTrajectoryPoints);
 toc

+urdf2casadi/+Utils/+Spatial/mcI.m

@@ -26,6 +26,9 @@
 
 function  rbi = mcI_to_rbi( m, c, I )
 
+% Import skew function 
+import urdf2casadi.Utils.Spatial.skew
+
 if length(c) == 3			% spatial
 
   C = skew(c);
@@ -41,6 +44,9 @@
 
 function  [m,c,I] = rbi_to_mcI( rbi )
 
+% Import skew function 
+import urdf2casadi.Utils.Spatial.skew
+
 if all(size(rbi)==[6 6])		% spatial
 
   m = rbi(6,6);

+urdf2casadi/+Utils/+modelExtractionFunctions/fromRotationAxisToRotationMatrix.m

@@ -1,6 +1,10 @@
 function R = fromRotationAxisToRotationMatrix(a,q)
 %Compute rotation matrix from rotation axis using Rodriguez formula 
 % a,q ---> R
+
+% Import skew function 
+import urdf2casadi.Utils.Spatial.skew
+
 if all(size(a)==[1,3])
     a = a.';
 end

.github/workflows/matlab_ci.yml

@@ -0,0 +1,90 @@
+name: MATLAB tests
+
+on:
+  push:
+    branches:
+            - master
+  pull_request:
+    branches:
+            - master
+
+
+jobs:
+
+  run-matlab-test:
+
+    name: Install dependencies and run MATLAB tests
+    strategy:
+      matrix:
+        os: [ubuntu-latest]
+    runs-on: ${{ matrix.os }}
+
+    env:
+        CONDA_ENV_NAME: urdf2casadi_conda_env
+        MATLAB_VERSION: R2020b
+    defaults:
+      run:
+        shell: bash -l {0}
+
+    steps:
+
+      - name: Check out repository
+        uses: actions/checkout@v2
+
+      - name: Install miniforge
+        uses: conda-incubator/setup-miniconda@v2
+        with:
+          miniforge-version: latest
+          activate-environment: ${GITHUB_WORKSPACE}/${{env.CONDA_ENV_NAME}}
+
+      - name: Install casadi, casadi-matlab-bindings and idyntree-matlab-bindings
+        run: conda install -c conda-forge -c robotology casadi casadi-matlab-bindings idyntree-matlab-bindings
+
+      - name: conda info
+        run: |
+          conda info
+          conda list
+          conda config --show-sources
+          conda config --show
+
+      - name: Set configuration enviromental variables  [Ubuntu]
+        if: matrix.os == 'ubuntu-latest'
+        run: |
+          echo "URDF2CASADI_PACKAGE_PATH=${GITHUB_WORKSPACE}" >> $GITHUB_ENV
+          echo "URDF2CASADI_TEST_FOLDER=${GITHUB_WORKSPACE}/tests" >> $GITHUB_ENV
+          echo "CONDA_ENV_LOCATION=${GITHUB_WORKSPACE}/${{env.CONDA_ENV_NAME}}" >> $GITHUB_ENV
+          echo "IDYNTREE_AND_CASADI_MATLAB_BINDINGS_PATH=${GITHUB_WORKSPACE}/${{env.CONDA_ENV_NAME}}/mex" >> $GITHUB_ENV
+          echo 'LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6' >> $GITHUB_ENV
+
+      - name: Install MATLAB
+        uses: matlab-actions/setup-matlab@v1
+        with:
+          release: ${{env.MATLAB_VERSION }}
+
+      - name: Run MATLAB to modify libstdc++.so.6
+        uses: matlab-actions/run-command@v1
+        with:
+          command: disp(matlabroot); dir([matlabroot, '/sys/os/glnxa64/']); 
+
+      - name: Check the path variables
+        if: matrix.os == 'ubuntu-latest'
+        run: |
+          # Print the current directory and the other env variables
+          echo "$(pwd)"
+          echo $GITHUB_WORKSPACE
+          echo "$(ls)"  
+          echo $CASADI_BINDINGS_PATH
+          echo $URDF2CASADI_PACKAGE_PATH
+          echo $URDF2CASADI_TEST_FOLDER
+
+          cd $CONDA_PKGS_DIR 
+          ls
+          echo $CONDA_ENV_LOCATION
+          cd $CONDA_ENV_LOCATION
+          ls
+          cd
+
+      - name: Run MATLAB tests
+        uses: matlab-actions/run-command@v1
+        with:
+          command: addpath( getenv('IDYNTREE_AND_CASADI_MATLAB_BINDINGS_PATH') ); addpath(getenv('URDF2CASADI_PACKAGE_PATH')); addpath( genpath(getenv('URDF2CASADI_TEST_FOLDER')) ); cd(getenv('URDF2CASADI_TEST_FOLDER')); result=runtests; assertSuccess(result);