Questions about testing my own Sofa Engine

[accuracy-maker]

Hi community,

I hope you are doing well.

Recently I am developing a new sofa plugin that implements torsion rigid model for a Concentric tube robot aiming to control by geomagic in real time. I already implemented the maths (lie group and lie algebra), forward and inverse kinematics. this is my repo https://github.com/accuracy-maker/TorsionRigidModel/tree/v2. My code structure is like this:

TorsionRigidModel/
├── CMakeLists.txt
├── LICENSE (GPL v3)
└── src/
└── TorsionRigidModel/
├── math/
│ └── Lie.h Lie group / algebra operations (SE(3), se(3))
├── core/
│ ├── RobotParameters.h Physical constants: stiffness, curvatures, joint limits
│ ├── ForwardKinematics.h
│ ├── ForwardKinematics.cpp
│ ├── InverseKinematics.h
│ └── InverseKinematics.cpp
├── test/
│ ├── test_lie.cpp 9 unit tests for Lie operations
│ ├── test_fk.cpp FK validity tests (SE(3) membership)
│ └── test_ik.cpp Jacobian shape + IK convergence tests
├── Constraint/ (placeholder — not yet implemented)
├── Engine/ (placeholder — not yet implemented)
├── ForceField/ (placeholder — not yet implemented)
└── Mapping/ (placeholder — not yet implemented)

Inside my core folder, all data types are from Eigen package. In order to use Sofa, I think I need to transfer them into Sofa's data types right? and I should implement it in Engine folder. I am not sure if I am correct or not. I have finished this.

Now I want to write a test file and my question is that how do I write the CMakeList.txt file for that to link Sofa types. I have read the document https://sofa-framework.github.io/doc/programming-with-sofa/create-your-plugin/. But I don't fully understand it. Could anyone tell me what should I in next step?

Thanks in advance.