From a4e789a4feef5c980229af26e8482029a313109e Mon Sep 17 00:00:00 2001
From: ManifoldFR <wilson.jallet@polytechnique.org>
Date: Thu, 19 Sep 2024 18:28:42 +0200
Subject: [PATCH] [tests/python] Properly gate some tests using
 pytest.mark.skipif

[cmake] Remove some tests from list of Python tests depending on detected features
---
 tests/python/CMakeLists.txt              | 10 +++++-----
 tests/python/test_continuous_dynamics.py | 12 +++++++++++-
 tests/python/test_finite_diff.py         |  5 +++--
 tests/python/test_frames.py              |  4 ++--
 4 files changed, 21 insertions(+), 10 deletions(-)

diff --git a/tests/python/CMakeLists.txt b/tests/python/CMakeLists.txt
index 7f54ff1d3..c0364d3a4 100644
--- a/tests/python/CMakeLists.txt
+++ b/tests/python/CMakeLists.txt
@@ -10,13 +10,13 @@ file(
 if(NOT BUILD_CROCODDYL_COMPAT)
   list(REMOVE_ITEM PYTHON_TESTS test_compat_croc.py)
 endif()
-if(NOT BUILD_WITH_PINOCCHIO_PYTHON_BINDINGS)
-  list(REMOVE_ITEM PYTHON_TESTS test_constrained_dynamics.py)
+if(NOT BUILD_WITH_PINOCCHIO_SUPPORT)
+  list(REMOVE_ITEM PYTHON_TESTS test_center_of_mass.py)
   list(REMOVE_ITEM PYTHON_TESTS test_frames.py)
-endif()
-if(NOT PINOCCHIO_V3)
+  list(REMOVE_ITEM PYTHON_TESTS test_rollout.py)
+elseif(NOT PINOCCHIO_V3)
+  # Pinocchio support, but not Pinocchio 3
   list(REMOVE_ITEM PYTHON_TESTS test_constrained_dynamics.py)
-  list(REMOVE_ITEM PYTHON_TESTS test_frames.py)
 endif()
 make_directory(${CMAKE_CURRENT_BINARY_DIR})
 
diff --git a/tests/python/test_continuous_dynamics.py b/tests/python/test_continuous_dynamics.py
index f9fa837c9..dda3f5e93 100644
--- a/tests/python/test_continuous_dynamics.py
+++ b/tests/python/test_continuous_dynamics.py
@@ -6,12 +6,13 @@
 import numpy as np
 import aligator
 from aligator import dynamics, manifolds
-from pinocchio import Quaternion
+from eigenpy import Quaternion
 from utils import finite_diff, infNorm, create_multibody_ode
 
 epsilon = 1e-6
 aligator.seed(42)
 np.random.seed(42)
+HAS_PINOCCHIO = aligator.has_pinocchio_features()
 
 
 class MyODE(dynamics.ODEAbstract):
@@ -71,6 +72,9 @@ def test_custom_ode():
     assert len(xs) == 11
 
 
+@pytest.mark.skipif(
+    not HAS_PINOCCHIO, reason="Aligator was compiled without Pinocchio."
+)
 def test_multibody_free():
     ode = create_multibody_ode(True)
     if ode is None:
@@ -304,6 +308,9 @@ def test_continuous_centroidal_diff():
     assert np.allclose(Judiff, Ju0, epsilon), "err={}".format(infNorm(Judiff - Ju0))
 
 
+@pytest.mark.skipif(
+    not HAS_PINOCCHIO, reason="Aligator was compiled without Pinocchio."
+)
 def test_kinodynamics():
     import pinocchio as pin
 
@@ -337,6 +344,9 @@ def test_kinodynamics():
     ode.dForward(x0, u0, data)
 
 
+@pytest.mark.skipif(
+    not HAS_PINOCCHIO, reason="Aligator was compiled without Pinocchio."
+)
 def test_kinodynamics_diff():
     import pinocchio as pin
 
diff --git a/tests/python/test_finite_diff.py b/tests/python/test_finite_diff.py
index c247faee4..731fe7e82 100644
--- a/tests/python/test_finite_diff.py
+++ b/tests/python/test_finite_diff.py
@@ -42,7 +42,9 @@ def test_compute_jac_vs():
         assert np.allclose(fdata1.Jy, fdata1b.Jy, 1e-2)
 
 
-@pytest.mark.skipif(not HAS_PINOCCHIO, reason="Pinocchio bindings not present.")
+@pytest.mark.skipif(
+    not HAS_PINOCCHIO, reason="Aligator was compiled without Pinocchio."
+)
 def test_compute_jac_multibody():
     model = pin.buildSampleModelHumanoid()
     space = manifolds.MultibodyConfiguration(model)
@@ -87,7 +89,6 @@ def test_compute_cost_se3():
 
 
 if __name__ == "__main__":
-    import pytest
     import sys
 
     sys.exit(pytest.main(sys.argv))
diff --git a/tests/python/test_frames.py b/tests/python/test_frames.py
index 472a1e4de..31f3259d3 100644
--- a/tests/python/test_frames.py
+++ b/tests/python/test_frames.py
@@ -1,5 +1,6 @@
 """
-Test function related to frames.
+Test function related to Pinocchio frames.
+This test is not added to CTest when CMake does not detect Pinocchio.
 """
 
 import aligator
@@ -194,4 +195,3 @@ def test_fly_high():
     import pytest
 
     sys.exit(pytest.main(sys.argv))
-    # test_frame_placement()