Functions | Variables
test_distance_field.cpp File Reference
#include <gtest/gtest.h>
#include <moveit/distance_field/voxel_grid.h>
#include <moveit/distance_field/propagation_distance_field.h>
#include <moveit/distance_field/find_internal_points.h>
#include <geometric_shapes/body_operations.h>
#include <tf2_eigen/tf2_eigen.h>
#include <octomap/octomap.h>
#include <ros/console.h>
#include <memory>
Include dependency graph for test_distance_field.cpp:

Go to the source code of this file.

Functions

bool areDistanceFieldsDistancesEqual (const PropagationDistanceField &df1, const PropagationDistanceField &df2)
 
void check_distance_field (const PropagationDistanceField &df, const EigenSTL::vector_Vector3d &points, int numX, int numY, int numZ, bool do_negs)
 
bool checkOctomapVersusDistanceField (const PropagationDistanceField &df, const octomap::OcTree &octree)
 
unsigned int countLeafNodes (const octomap::OcTree &octree)
 
unsigned int countOccupiedCells (const PropagationDistanceField &df)
 
int dist_sq (int x, int y, int z)
 
int main (int argc, char **argv)
 
static const Eigen::Vector3d POINT1 (0.1, 0.0, 0.0)
 
static const Eigen::Vector3d POINT2 (0.0, 0.1, 0.2)
 
static const Eigen::Vector3d POINT3 (0.4, 0.0, 0.0)
 
void print (PropagationDistanceField &pdf, int numX, int numY, int numZ)
 
void printBoth (PropagationDistanceField &pdf, int numX, int numY, int numZ)
 
void printNeg (PropagationDistanceField &pdf, int numX, int numY, int numZ)
 
void printPointCoords (const Eigen::Vector3i &p)
 
 TEST (TestPropagationDistanceField, TestAddRemovePoints)
 
 TEST (TestSignedPropagationDistanceField, TestOcTree)
 
 TEST (TestSignedPropagationDistanceField, TestPerformance)
 
 TEST (TestSignedPropagationDistanceField, TestReadWrite)
 
 TEST (TestSignedPropagationDistanceField, TestShape)
 
 TEST (TestSignedPropagationDistanceField, TestSignedAddRemovePoints)
 

Variables

static const double DEPTH = 1.0
 
static const double HEIGHT = 1.0
 
static const double MAX_DIST = 0.3
 
static const double ORIGIN_X = 0.0
 
static const double ORIGIN_Y = 0.0
 
static const double ORIGIN_Z = 0.0
 
static const double PERF_DEPTH = 4.0
 
static const double PERF_HEIGHT = 3.0
 
static const double PERF_MAX_DIST = .25
 
static const double PERF_ORIGIN_X = 0.0
 
static const double PERF_ORIGIN_Y = 0.0
 
static const double PERF_ORIGIN_Z = 0.0
 
static const double PERF_RESOLUTION = 0.02
 
static const double PERF_WIDTH = 3.0
 
static const double RESOLUTION = 0.1
 
static const unsigned int UNIFORM_DISTANCE = 10
 
static const double WIDTH = 1.0
 

Function Documentation

◆ areDistanceFieldsDistancesEqual()

bool areDistanceFieldsDistancesEqual ( const PropagationDistanceField df1,
const PropagationDistanceField df2 
)

Definition at line 167 of file test_distance_field.cpp.

◆ check_distance_field()

void check_distance_field ( const PropagationDistanceField df,
const EigenSTL::vector_Vector3d points,
int  numX,
int  numY,
int  numZ,
bool  do_negs 
)

Definition at line 288 of file test_distance_field.cpp.

◆ checkOctomapVersusDistanceField()

bool checkOctomapVersusDistanceField ( const PropagationDistanceField df,
const octomap::OcTree octree 
)

Definition at line 199 of file test_distance_field.cpp.

◆ countLeafNodes()

unsigned int countLeafNodes ( const octomap::OcTree octree)

Definition at line 273 of file test_distance_field.cpp.

◆ countOccupiedCells()

unsigned int countOccupiedCells ( const PropagationDistanceField df)

Definition at line 254 of file test_distance_field.cpp.

◆ dist_sq()

int dist_sq ( int  x,
int  y,
int  z 
)

Definition at line 64 of file test_distance_field.cpp.

◆ main()

int main ( int  argc,
char **  argv 
)

Definition at line 930 of file test_distance_field.cpp.

◆ POINT1()

static const Eigen::Vector3d POINT1 ( 0.  1,
0.  0,
0.  0 
)
static

◆ POINT2()

static const Eigen::Vector3d POINT2 ( 0.  0,
0.  1,
0.  2 
)
static

◆ POINT3()

static const Eigen::Vector3d POINT3 ( 0.  4,
0.  0,
0.  0 
)
static

◆ print()

void print ( PropagationDistanceField pdf,
int  numX,
int  numY,
int  numZ 
)

Definition at line 69 of file test_distance_field.cpp.

◆ printBoth()

void printBoth ( PropagationDistanceField pdf,
int  numX,
int  numY,
int  numZ 
)

Definition at line 134 of file test_distance_field.cpp.

◆ printNeg()

void printNeg ( PropagationDistanceField pdf,
int  numX,
int  numY,
int  numZ 
)

Definition at line 98 of file test_distance_field.cpp.

◆ printPointCoords()

void printPointCoords ( const Eigen::Vector3i &  p)

Definition at line 114 of file test_distance_field.cpp.

◆ TEST() [1/6]

TEST ( TestPropagationDistanceField  ,
TestAddRemovePoints   
)

Definition at line 329 of file test_distance_field.cpp.

◆ TEST() [2/6]

TEST ( TestSignedPropagationDistanceField  ,
TestOcTree   
)

Definition at line 785 of file test_distance_field.cpp.

◆ TEST() [3/6]

TEST ( TestSignedPropagationDistanceField  ,
TestPerformance   
)

Definition at line 661 of file test_distance_field.cpp.

◆ TEST() [4/6]

TEST ( TestSignedPropagationDistanceField  ,
TestReadWrite   
)

Definition at line 882 of file test_distance_field.cpp.

◆ TEST() [5/6]

TEST ( TestSignedPropagationDistanceField  ,
TestShape   
)

Definition at line 601 of file test_distance_field.cpp.

◆ TEST() [6/6]

TEST ( TestSignedPropagationDistanceField  ,
TestSignedAddRemovePoints   
)

Definition at line 431 of file test_distance_field.cpp.

Variable Documentation

◆ DEPTH

const double DEPTH = 1.0
static

Definition at line 53 of file test_distance_field.cpp.

◆ HEIGHT

const double HEIGHT = 1.0
static

Definition at line 52 of file test_distance_field.cpp.

◆ MAX_DIST

const double MAX_DIST = 0.3
static

Definition at line 58 of file test_distance_field.cpp.

◆ ORIGIN_X

const double ORIGIN_X = 0.0
static

Definition at line 55 of file test_distance_field.cpp.

◆ ORIGIN_Y

const double ORIGIN_Y = 0.0
static

Definition at line 56 of file test_distance_field.cpp.

◆ ORIGIN_Z

const double ORIGIN_Z = 0.0
static

Definition at line 57 of file test_distance_field.cpp.

◆ PERF_DEPTH

const double PERF_DEPTH = 4.0
static

Definition at line 653 of file test_distance_field.cpp.

◆ PERF_HEIGHT

const double PERF_HEIGHT = 3.0
static

Definition at line 652 of file test_distance_field.cpp.

◆ PERF_MAX_DIST

const double PERF_MAX_DIST = .25
static

Definition at line 658 of file test_distance_field.cpp.

◆ PERF_ORIGIN_X

const double PERF_ORIGIN_X = 0.0
static

Definition at line 655 of file test_distance_field.cpp.

◆ PERF_ORIGIN_Y

const double PERF_ORIGIN_Y = 0.0
static

Definition at line 656 of file test_distance_field.cpp.

◆ PERF_ORIGIN_Z

const double PERF_ORIGIN_Z = 0.0
static

Definition at line 657 of file test_distance_field.cpp.

◆ PERF_RESOLUTION

const double PERF_RESOLUTION = 0.02
static

Definition at line 654 of file test_distance_field.cpp.

◆ PERF_WIDTH

const double PERF_WIDTH = 3.0
static

Definition at line 651 of file test_distance_field.cpp.

◆ RESOLUTION

const double RESOLUTION = 0.1
static

Definition at line 54 of file test_distance_field.cpp.

◆ UNIFORM_DISTANCE

const unsigned int UNIFORM_DISTANCE = 10
static

Definition at line 659 of file test_distance_field.cpp.

◆ WIDTH

const double WIDTH = 1.0
static

Definition at line 51 of file test_distance_field.cpp.



moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Mar 3 2024 03:23:36