Merge branch 'TutorialProject' into 'Release_1.9.4'

Tutorial project

Compare the result from new code with the reference solution.  
It only compares the .res file with the `diff` command from unix terminal.  


**WARNING** : contains the .res file of reference solution, can be heavy

See merge request !87

.gitlab-ci.yml

@@ -45,6 +45,11 @@ tutorial_1_monolithic:
     - cmake ..
     - make
     - ./exe_Bodies_and_Joints
+    - cd ../../resultsR
+    - diff -q dirdyn_q_ref.res   dirdyn_q.res
+    - diff -q dirdyn_qd_ref.res  dirdyn_qd.res
+    - diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
+    - diff -q dirdyn_Qq_ref.res  dirdyn_Qq.res
 
 tutorial_1_separate:
   script:
@@ -58,6 +63,11 @@ tutorial_1_separate:
     - cmake -DFLAG_SEPARATE_BUILD=ON ..
     - make
     - ./exe_Bodies_and_Joints
+    - cd ../../resultsR
+    - diff -q dirdyn_q_ref.res   dirdyn_q.res
+    - diff -q dirdyn_qd_ref.res  dirdyn_qd.res
+    - diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
+    - diff -q dirdyn_Qq_ref.res  dirdyn_Qq.res
 
 tutorial_2_monolithic:
   script:
@@ -66,6 +76,12 @@ tutorial_2_monolithic:
     - cmake ..
     - make
     - ./exe_Links
+    - cd ../../resultsR
+    - diff -q dirdyn_q_ref.res     dirdyn_q.res
+    - diff -q dirdyn_qd_ref.res    dirdyn_qd.res
+    - diff -q dirdyn_qdd_ref.res   dirdyn_qdd.res
+    - diff -q dirdyn_Qq_ref.res    dirdyn_Qq.res
+    - diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
 
 tutorial_2_separate:
   script:
@@ -79,6 +95,12 @@ tutorial_2_separate:
     - cmake -DFLAG_SEPARATE_BUILD=ON ..
     - make
     - ./exe_Links
+    - cd ../../resultsR
+    - diff -q dirdyn_q_ref.res     dirdyn_q.res
+    - diff -q dirdyn_qd_ref.res    dirdyn_qd.res
+    - diff -q dirdyn_qdd_ref.res   dirdyn_qdd.res
+    - diff -q dirdyn_Qq_ref.res    dirdyn_Qq.res
+    - diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
 
 tutorial_3_monolithic:
   script:
@@ -87,6 +109,12 @@ tutorial_3_monolithic:
     - cmake ..
     - make
     - ./exe_Cuts
+    - cd ../../resultsR
+    - diff -q dirdyn_q_ref.res     dirdyn_q.res
+    - diff -q dirdyn_qd_ref.res    dirdyn_qd.res
+    - diff -q dirdyn_qdd_ref.res   dirdyn_qdd.res
+    - diff -q dirdyn_Qq_ref.res    dirdyn_Qq.res
+    - diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
 
 tutorial_3_separate:
   script:
@@ -100,6 +128,12 @@ tutorial_3_separate:
     - cmake -DFLAG_SEPARATE_BUILD=ON ..
     - make
     - ./exe_Cuts
+    - cd ../../resultsR
+    - diff -q dirdyn_q_ref.res     dirdyn_q.res
+    - diff -q dirdyn_qd_ref.res    dirdyn_qd.res
+    - diff -q dirdyn_qdd_ref.res   dirdyn_qdd.res
+    - diff -q dirdyn_Qq_ref.res    dirdyn_Qq.res
+    - diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
 
 tutorial_4_monolithic:
   script:
@@ -108,6 +142,13 @@ tutorial_4_monolithic:
     - cmake ..
     - make
     - ./exe_Driven_variable
+    - cd ../../resultsR
+    - diff -q dirdyn_q_ref.res     dirdyn_q.res
+    - diff -q dirdyn_qd_ref.res    dirdyn_qd.res
+    - diff -q dirdyn_qdd_ref.res   dirdyn_qdd.res
+    - diff -q dirdyn_Qq_ref.res    dirdyn_Qq.res
+    - diff -q dirdyn_Qc_ref.res    dirdyn_Qc.res
+    - diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
 
 tutorial_4_separate:
   script:
@@ -121,6 +162,13 @@ tutorial_4_separate:
     - cmake -DFLAG_SEPARATE_BUILD=ON ..
     - make
     - ./exe_Driven_variable
+    - cd ../../resultsR
+    - diff -q dirdyn_q_ref.res     dirdyn_q.res
+    - diff -q dirdyn_qd_ref.res    dirdyn_qd.res
+    - diff -q dirdyn_qdd_ref.res   dirdyn_qdd.res
+    - diff -q dirdyn_Qq_ref.res    dirdyn_Qq.res
+    - diff -q dirdyn_Qc_ref.res    dirdyn_Qc.res
+    - diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
 
 tutorial_5_monolithic:
   script:
@@ -129,6 +177,13 @@ tutorial_5_monolithic:
     - cmake ..
     - make
     - ./exe_Sensors
+    - cd ../../resultsR
+    - diff -q dirdyn_q_ref.res     dirdyn_q.res
+    - diff -q dirdyn_qd_ref.res    dirdyn_qd.res
+    - diff -q dirdyn_qdd_ref.res   dirdyn_qdd.res
+    - diff -q dirdyn_Qq_ref.res    dirdyn_Qq.res
+    - diff -q Vertical_Acc_ref.res Vertical_Acc.res
+    - diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
 
 tutorial_5_separate:
   script:
@@ -142,6 +197,13 @@ tutorial_5_separate:
     - cmake -DFLAG_SEPARATE_BUILD=ON ..
     - make
     - ./exe_Sensors
+    - cd ../../resultsR
+    - diff -q dirdyn_q_ref.res     dirdyn_q.res
+    - diff -q dirdyn_qd_ref.res    dirdyn_qd.res
+    - diff -q dirdyn_qdd_ref.res   dirdyn_qdd.res
+    - diff -q dirdyn_Qq_ref.res    dirdyn_Qq.res
+    - diff -q Vertical_Acc_ref.res Vertical_Acc.res
+    - diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
 
 tutorial_6_monolithic:
   script:
@@ -150,6 +212,13 @@ tutorial_6_monolithic:
     - cmake ..
     - make
     - ./exe_External_Force
+    - cd ../../resultsR
+    - diff -q dirdyn_q_ref.res     dirdyn_q.res
+    - diff -q dirdyn_qd_ref.res    dirdyn_qd.res
+    - diff -q dirdyn_qdd_ref.res   dirdyn_qdd.res
+    - diff -q dirdyn_Qq_ref.res    dirdyn_Qq.res
+    - diff -q Vertical_Acc_ref.res Vertical_Acc.res
+    - diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
 
 tutorial_6_separate:
   script:
@@ -163,6 +232,13 @@ tutorial_6_separate:
     - cmake -DFLAG_SEPARATE_BUILD=ON ..
     - make
     - ./exe_External_Force
+    - cd ../../resultsR
+    - diff -q dirdyn_q_ref.res     dirdyn_q.res
+    - diff -q dirdyn_qd_ref.res    dirdyn_qd.res
+    - diff -q dirdyn_qdd_ref.res   dirdyn_qdd.res
+    - diff -q dirdyn_Qq_ref.res    dirdyn_Qq.res
+    - diff -q Vertical_Acc_ref.res Vertical_Acc.res
+    - diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
 
 tutorial_7_monolithic:
   script:
@@ -171,6 +247,13 @@ tutorial_7_monolithic:
     - cmake ..
     - make
     - ./exe_Userconstraints
+    - cd ../../resultsR
+    - diff -q dirdyn_q_ref.res     dirdyn_q.res
+    - diff -q dirdyn_qd_ref.res    dirdyn_qd.res
+    - diff -q dirdyn_qdd_ref.res   dirdyn_qdd.res
+    - diff -q dirdyn_Qq_ref.res    dirdyn_Qq.res
+    - diff -q Vertical_Acc_ref.res Vertical_Acc.res
+    - diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
 
 tutorial_7_separate:
   script:
@@ -184,6 +267,13 @@ tutorial_7_separate:
     - cmake -DFLAG_SEPARATE_BUILD=ON ..
     - make
     - ./exe_Userconstraints
+    - cd ../../resultsR
+    - diff -q dirdyn_q_ref.res     dirdyn_q.res
+    - diff -q dirdyn_qd_ref.res    dirdyn_qd.res
+    - diff -q dirdyn_qdd_ref.res   dirdyn_qdd.res
+    - diff -q dirdyn_Qq_ref.res    dirdyn_Qq.res
+    - diff -q Vertical_Acc_ref.res Vertical_Acc.res
+    - diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
 
 tutorial_8_monolithic:
   script:
@@ -192,6 +282,15 @@ tutorial_8_monolithic:
     - cmake ..
     - make
     - ./exe_Userderivatives
+    - cd ../../resultsR
+    - diff -q dirdyn_q_ref.res     dirdyn_q.res
+    - diff -q dirdyn_qd_ref.res    dirdyn_qd.res
+    - diff -q dirdyn_qdd_ref.res   dirdyn_qdd.res
+    - diff -q dirdyn_Qq_ref.res    dirdyn_Qq.res
+    - diff -q Vertical_Acc_ref.res Vertical_Acc.res
+    - diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
+    - diff -q dirdyn_ux_ref.res    dirdyn_ux.res
+    - diff -q dirdyn_uxd_ref.res   dirdyn_uxd.res
 
 tutorial_8_separate:
   script:
@@ -205,6 +304,15 @@ tutorial_8_separate:
     - cmake -DFLAG_SEPARATE_BUILD=ON ..
     - make
     - ./exe_Userderivatives
+    - cd ../../resultsR
+    - diff -q dirdyn_q_ref.res     dirdyn_q.res
+    - diff -q dirdyn_qd_ref.res    dirdyn_qd.res
+    - diff -q dirdyn_qdd_ref.res   dirdyn_qdd.res
+    - diff -q dirdyn_Qq_ref.res    dirdyn_Qq.res
+    - diff -q Vertical_Acc_ref.res Vertical_Acc.res
+    - diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
+    - diff -q dirdyn_ux_ref.res    dirdyn_ux.res
+    - diff -q dirdyn_uxd_ref.res   dirdyn_uxd.res
 
 tutorial_9_monolithic:
   script:
@@ -213,6 +321,14 @@ tutorial_9_monolithic:
     - cmake ..
     - make
     - ./exe_Tips
+    - cd ../../resultsR
+    - diff -q dirdyn_q_ref.res     dirdyn_q.res
+    - diff -q dirdyn_qd_ref.res    dirdyn_qd.res
+    - diff -q dirdyn_qdd_ref.res   dirdyn_qdd.res
+    - diff -q dirdyn_Qq_ref.res    dirdyn_Qq.res
+    - diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
+    - diff -q Fdamper_ref.res      Fdamper.res
+    - diff -q Fspring_ref.res      Fspring.res
 
 tutorial_9_separate:
   script:
@@ -226,3 +342,11 @@ tutorial_9_separate:
     - cmake -DFLAG_SEPARATE_BUILD=ON ..
     - make
     - ./exe_Tips
+    - cd ../../resultsR
+    - diff -q dirdyn_q_ref.res     dirdyn_q.res
+    - diff -q dirdyn_qd_ref.res    dirdyn_qd.res
+    - diff -q dirdyn_qdd_ref.res   dirdyn_qdd.res
+    - diff -q dirdyn_Qq_ref.res    dirdyn_Qq.res
+    - diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
+    - diff -q Fdamper_ref.res      Fdamper.res
+    - diff -q Fspring_ref.res      Fspring.res

ExampleProjects/TutorialProjects/1_Bodies_and_Joints/resultsR/readme.md

 ### resultsR folder
 
-This folder contains the results of the simulations or other computations.
+This folder contains the results of the simulations or other computations.  
+This folder also contains the reference solution of the simulation.

ExampleProjects/TutorialProjects/2_Links/resultsR/readme.md

 ### resultsR folder
 
-This folder contains the results of the simulations or other computations.
+This folder contains the results of the simulations or other computations.  
+This folder also contains the reference solution of the simulation.

ExampleProjects/TutorialProjects/3_Cuts/resultsR/readme.md

 ### resultsR folder
 
-This folder contains the results of the simulations or other computations.
+This folder contains the results of the simulations or other computations.  
+This folder also contains the reference solution of the simulation.