Add octave github action
Mattia Montanari
parent
b4de1e3a72
commit
9876960d08
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@ -23,3 +23,11 @@ jobs:
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with:
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go-version: 1.15
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- run: cd examples/go/openGJK && go build && go test -v
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Run_Octave_example:
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runs-on: ubuntu-latest
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container: gnuoctave/octave:7.3.0
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steps:
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- name: Check out repository code
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uses: actions/checkout@v3
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- run: cd examples/matlab/; run runme.m
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@ -32,31 +32,33 @@ B = -A;
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dist = openGJK( A, B );
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fprintf('The minimum distance between A and B is %.2f\n',dist);
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% VISUALISE RESULTS
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% .. create new figure
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figure('units','centimeters', 'WindowStyle','normal', 'color','w',...
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'Position',[0 8.5 9 6],'defaultAxesColorOrder',parula,...
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'Renderer','opengl')
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% .. adjust properties
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axis equal tight off; hold all;
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% .. display body A
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DT = delaunayTriangulation(A');
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[K,~] = convexHull(DT);
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trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
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'EdgeColor','none','FaceColor',[.4 1 .9 ],...
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'FaceLighting','flat' )
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% .. display body B
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DT = delaunayTriangulation(B');
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[K,~] = convexHull(DT);
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trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
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'EdgeColor','none','FaceColor',[.4 1 .8 ],...
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'FaceLighting','flat' )
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% .. represent the computed distance as a sphere
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[x,y,z] = sphere(100);
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surf(x.*dist/2,y.*dist/2,z.*dist/2,'facecolor',[.9 .9 .9],...
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'EdgeColor','none','FaceLighting','flat','SpecularColorReflectance',0,...
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'SpecularStrength',1,'SpecularExponent',10,'facealpha',.7)
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% ... adjust point of view
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view(42,21)
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% ... add light
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light('Position',[5 -10 20],'Style','local');
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% VISUALISE RESULTS ONLY IN MATLAB
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if(exist('OCTAVE_VERSION', 'builtin') == 0)
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% .. create new figure
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figure('units','centimeters', 'WindowStyle','normal', 'color','w',...
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'Position',[0 8.5 9 6],'defaultAxesColorOrder',parula,...
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'Renderer','opengl')
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% .. adjust properties
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axis equal tight off; hold all;
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% .. display body A
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DT = delaunayTriangulation(A');
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[K,~] = convexHull(DT);
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trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
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'EdgeColor','none','FaceColor',[.4 1 .9 ],...
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'FaceLighting','flat' )
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% .. display body B
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DT = delaunayTriangulation(B');
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[K,~] = convexHull(DT);
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trisurf(K,DT.Points(:,1),DT.Points(:,2),DT.Points(:,3),...
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'EdgeColor','none','FaceColor',[.4 1 .8 ],...
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'FaceLighting','flat' )
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% .. represent the computed distance as a sphere
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[x,y,z] = sphere(100);
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surf(x.*dist/2,y.*dist/2,z.*dist/2,'facecolor',[.9 .9 .9],...
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'EdgeColor','none','FaceLighting','flat','SpecularColorReflectance',0,...
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'SpecularStrength',1,'SpecularExponent',10,'facealpha',.7)
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% ... adjust point of view
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view(42,21)
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% ... add light
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light('Position',[5 -10 20],'Style','local');
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end
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@ -35,29 +35,14 @@ else
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silflag = '-v';
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end
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% TRY COMPILING MEX FILE
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fprintf('Compiling mex function... ')
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try
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mex(fullfile('..','..','openGJK.c'),... % Source of openGJK
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% COMPILE MEX FILE
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mex(fullfile('..','..','openGJK.c'),...
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'-largeArrayDims', ... % Support large arrays
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optflug, ... % Compiler flag for debug/optimisation
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fullfile('-I','..','..','include'),... % Folder to header files
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'-outdir', pwd, ... % Ouput directory for writing mex function
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optflug, ...
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['-I',fullfile('..','..','include')],... % Folder to header files
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'-output', 'openGJK',... % Name of ouput mex file
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'-DMATLAB_MEX_BUILD',... % Define variable for mex function in source files
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silflag ) % Silent/verbose flag
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% File compiled without errors. Return path and name of mex file
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fprintf('completed!\n')
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fprintf('The following mex file has been generated:')
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fprintf('\t%s\n',[pwd,filesep,'openGJK.',mexext])
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catch
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% Build failed, refer to documentation
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fprintf('\n\n ERROR DETECTED! Mex file cannot be compiled.\n')
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fprintf('\tFor more information, see ')
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fprintf('<a href="http://www.mathworks.com/help/matlab/ref/mex.html">this documentation page</a>.\n\n')
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return
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end
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silflag )
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% RUN EXAMPLE
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fprintf('Running example... ')
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