using boost on the /test folder, change the test cmakelist. and add c…

…test. above passed test but not clear the code. the git action workflow not test

.devcontainer/devcontainer.json

@@ -1,7 +1,7 @@
 // For format details, see https://aka.ms/devcontainer.json. For config options, see the
 // README at: https://github.com/devcontainers/templates/tree/main/src/docker-existing-dockerfile
 {
-	"name": "RAPTOR",
+	"name": "RAPTOR-zichang",
 	"build": {
 		// Sets the run context to one level up instead of the .devcontainer folder.
 		"context": "..",

.github/workflows/build-and-test.yml

@@ -0,0 +1,362 @@
+name: Build and Test RAPTOR
+
+on:
+  push:
+    branches:
+      - unit_test_dev
+    paths-ignore:
+      # Compiled Object files and Libraries
+      - '*.d'
+      - '*.slo'
+      - '*.lo'
+      - '*.o'
+      - '*.obj'
+      - '*.gch'
+      - '*.pch'
+      - '*.so'
+      - '*.dylib'
+      - '*.dll'
+      - '*.mod'
+      - '*.smod'
+      - '*.lai'
+      - '*.la'
+      - '*.a'
+      - '*.lib'
+
+      # Executables
+      - '*.exe'
+      - '*.out'
+      - '*.app'
+
+      # Matlab related
+      - '*.asv'
+      - '*.mat'
+
+      - '.vscode/**'
+
+      - 'build/**'
+      - 'data/**'
+      - 'data_safecopy/**'
+      - 'Examples/Kinova/SystemIdentification/ExcitingTrajectories/data/**'
+
+
+      - 'test_oracle.py'
+
+      - 'docker/HSL.zip'
+      - 'docker/pardiso/**'
+      - 'HSL/**'
+
+      - 'Examples/Digit/singlestep_optimization_settings.yaml'
+      - 'Examples/Digit-modified/singlestep_optimization_settings.yaml'
+
+      - 'test_nanobind_planner.py'
+
+  pull_request:
+    branches:
+      - unit_test_dev
+    paths-ignore:
+      # Same patterns as for push events
+      - '*.d'
+      - '*.slo'
+      - '*.lo'
+      - '*.o'
+      - '*.obj'
+      - '*.gch'
+      - '*.pch'
+      - '*.so'
+      - '*.dylib'
+      - '*.dll'
+      - '*.mod'
+      - '*.smod'
+      - '*.lai'
+      - '*.la'
+      - '*.a'
+      - '*.lib'
+
+      # Executables
+      - '*.exe'
+      - '*.out'
+      - '*.app'
+
+      # Matlab related
+      - '*.asv'
+      - '*.mat'
+
+      - '.vscode/**'
+
+      - 'build/**'
+      - 'data/**'
+      - 'data_safecopy/**'
+      - 'Examples/Kinova/SystemIdentification/ExcitingTrajectories/data/**'
+
+
+      - 'test_oracle.py'
+
+      - 'docker/HSL.zip'
+      - 'docker/pardiso/**'
+      - 'HSL/**'
+
+      - 'Examples/Digit/singlestep_optimization_settings.yaml'
+      - 'Examples/Digit-modified/singlestep_optimization_settings.yaml'
+
+      - 'test_nanobind_planner.py'
+
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+    container: ${{ matrix.container }}
+    strategy:
+      matrix:
+        container: ['ubuntu:20.04', 'ubuntu:22.04', 'ubuntu:24.04']
+        cmake-version: [3.18.0, 3.22.0, 3.25.0]
+# not sure
+    env:
+      CCACHE_BASEDIR: ${{ github.workspace }}
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      CCACHE_COMPRESS: true
+      CCACHE_COMPRESSLEVEL: 5
+
+    steps:
+      - name: Setup Container
+        run: |
+          apt update && DEBIAN_FRONTEND="noninteractive" apt install -y sudo lsb-release gnupg2 cmake git python3
+
+      - name: Checkout Repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          submodules: recursive
+
+      - name: Setup ccache
+        uses: actions/cache@v4
+        with:
+          path: .ccache
+          save-state: true
+          key: ccache-linux-${{ matrix.container }}-${{ github.sha }}
+          restore-keys: |
+            ccache-linux-${{ matrix.container }}-
+
+      - name: Get branch name (merge)
+        if: github.event_name != 'pull_request'
+        shell: bash
+        run: echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV
+
+      - name: Get branch name (push)
+        if: github.event_name != 'pull_request'
+        shell: bash
+        run: echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV
+
+      - name: Get branch name (pull request)
+        if: github.event_name == 'pull_request'
+        shell: bash
+        run: echo "BRANCH_NAME=$(echo ${GITHUB_HEAD_REF})" >> $GITHUB_ENV
+
+      - name: Debug Branch Name
+        run: echo ${{ env.BRANCH_NAME }}
+
+      - name: Register robotpkg
+        run: |
+          sh -c "echo \"deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg\" >> /etc/apt/sources.list"
+          apt-key adv --fetch-keys http://robotpkg.openrobots.org/packages/debian/robotpkg.key
+
+      - name: Set and install dependencies
+        run: |
+          rm -rf /usr/local/share/boost/1.69.0
+          export PYTHON3_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+str(sys.version_info.minor))")
+          export APT_DEPENDENCIES="doxygen \
+                                   ccache \
+                                   curl \
+                                   cppcheck \
+                                   libomp-dev \
+                                   libomp5 \
+                                   libboost-system-dev \
+                                   libboost-test-dev \
+                                   libboost-filesystem-dev \
+                                   libboost-program-options-dev \
+                                   libeigen3-dev \
+                                   liburdfdom-dev \
+                                   texlive-font-utils \
+                                   libboost-python-dev \
+                                   python3-numpy \
+                                   python3-matplotlib \
+                                   robotpkg-py${PYTHON3_VERSION}-eigenpy \
+                                   robotpkg-py${PYTHON3_VERSION}-hpp-fcl \
+                                   robotpkg-py${PYTHON3_VERSION}-casadi"
+          echo "APT Dependencies: $APT_DEPENDENCIES"
+
+          apt-get update -qq
+          DEBIAN_FRONTEND="noninteractive" apt-get install -qq ${APT_DEPENDENCIES}
+
+      - name: Install Python Packages
+        run: |
+          pip3 install --upgrade pip
+          pip3 install scipy matplotlib pyyaml torch pybullet==3.2.5 mujoco==2.3.7 glfw==2.6.2 pyopengl==3.1.7 numpy==1.25.2 nanobind pygccxml pyplusplus
+
+      - name: Install Pinocchio Dependencies
+        run: |
+          bash docker/scripts/install-pinocchio.sh
+
+      - name: Install HSL Solver
+        run: |
+          bash docker/scripts/install-hsl.sh
+
+      - name: Install Ipopt Solver
+        run: |
+          bash docker/scripts/install-ipopt.sh
+
+      - name: Install OMPL
+        run: |
+          bash docker/scripts/install-ompl.sh
+
+      - name: Free disk space
+        run: |
+          apt clean
+          df -h
+
+      - name: Configure CMake
+        run: |
+          # Add cloned repo to safe.directory, since it was not cloned by the container
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          git submodule update --init
+          export PATH=$PATH:/opt/openrobots/bin
+          export PYTHON3_DOT_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+'.'+str(sys.version_info.minor))")
+          export PYTHONPATH=${PYTHONPATH}:/opt/openrobots/lib/python$PYTHON3_DOT_VERSION/site-packages
+          export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu
+
+          mkdir build
+          cd build
+          cmake .. \
+            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+            -DCMAKE_BUILD_TYPE=Release \
+            -DBUILD_WITH_COLLISION_SUPPORT=ON \
+            -DBUILD_ADVANCED_TESTING=OFF \
+            -DBUILD_WITH_CASADI_SUPPORT=ON \
+            -DPYTHON_EXECUTABLE=$(which python3) \
+            -DBUILD_WITH_OPENMP_SUPPORT=ON \
+            -DINSTALL_DOCUMENTATION=ON \
+            -DCMAKE_TOOLCHAIN_FILE=${GITHUB_WORKSPACE}/.github/workflows/cmake/linux-debug-toolchain.cmake
+
+      - name: Build Project
+        run: |
+          cd build
+          make -j$(nproc)
+# may overlap
+    #   - name: Build Tests
+    #     run: |
+    #       cd build
+    #       make -j$(nproc) build_tests
+
+      - name: Run Tests
+        env:
+          CTEST_OUTPUT_ON_FAILURE: 1
+        run: |
+          cd build
+          ctest --output-on-failure
+
+      - name: Upload Build Artifacts
+        if: always()
+        uses: actions/upload-artifact@v3
+        with:
+          name: build-artifacts
+          path: build/
+
+      - name: Run Tests
+        env:
+          CTEST_OUTPUT_ON_FAILURE: 1
+        run: |
+          cd build
+          mkdir -p TestResults
+          ctest --output-on-failure --output-junit TestResults/test-results.xml
+
+      - name: Upload Test Results
+        if: always()
+        uses: actions/upload-artifact@v3
+        with:
+          name: test-results
+          path: build/TestResults/test-results.xml
+
+      - name: Upload Test Results to Test Reporter
+        if: always()
+        uses: dorny/test-reporter@v1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          name: CTest Results
+          path: build/TestResults/test-results.xml
+          reporter: junit
+
+
+      - name: Test Packaging
+        run: |
+          export PATH=$PATH:/opt/openrobots/bin
+          export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/opt/openrobots/lib/pkgconfig
+          export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu
+          
+          # Test CMake module packaging
+          cd ./unittest/packaging/cmake
+          mkdir build && cd build
+          export CMAKE_PREFIX_PATH=/usr/local
+          cmake .. \
+            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+            -DPYTHON_EXECUTABLE=$(which python3)
+          make -j$(nproc)
+          ./run_rnea
+          ./load_urdf
+
+          # Test pkg-config packaging
+          cd ../../pkgconfig
+          mkdir build && cd build
+          cmake .. \
+            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+            -DPYTHON_EXECUTABLE=$(which python3)
+          make -j$(nproc)
+          ./run_rnea
+          ./load_urdf
+
+          # Test FetchContent packaging
+          cd ../../external
+          export PINOCCHIO_GIT_REPOSITORY="file://$GITHUB_WORKSPACE"
+          export PINOCCHIO_GIT_TAG="test-external-$(git rev-parse --short HEAD)"
+          git tag $PINOCCHIO_GIT_TAG
+          mkdir build && cd build
+          cmake .. \
+            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+            -DPYTHON_EXECUTABLE=$(which python3)
+          make -j$(nproc)
+          ./run_rnea
+          ./load_urdf
+
+          # Test CMake module packaging and pinocchio_header target
+          cd ../../pinocchio_header
+          mkdir build && cd build
+          cmake .. \
+            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+            -DPYTHON_EXECUTABLE=$(which python3)
+          make -j$(nproc)
+          ./run_fk
+
+      - name: Uninstall Project
+        run: |
+          cd build
+          sudo make uninstall
+
+  check:
+    if: always()
+    name: check-linux-apt
+
+    needs:
+      - build
+
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Decide whether the needed jobs succeeded or failed
+        uses: re-actors/alls-green@release/v1
+        with:
+          jobs: ${{ toJSON(needs) }}

CMakeLists.txt

@@ -1,13 +1,25 @@
 # Minimum required CMake version
 cmake_minimum_required(VERSION 3.18)
 
+
 # Project name
 project(RAPTOR
     DESCRIPTION "Rapid and Robust Trajectory Optimization for Robots")
 
 if(NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE Release)
 endif()
+# 
+
+include(CTest)
+set(CTEST_OUTPUT_ON_FAILURE TRUE)
+set(CTEST_CUSTOM_TESTS_IGNORE "")
+
+set(CTEST_JUNIT_OUTPUT_PATH "${CMAKE_BINARY_DIR}/TestResults")
+set(CTEST_CUSTOM_TESTS_IGNORE "")
+
+enable_testing()
+enable_testing()
 
 # set(CMAKE_CXX_FLAGS "-Wall -Wextra")
 set(CMAKE_CXX_FLAGS_DEBUG "-g -fopenmp")