Classes | Functions
test_bullet_continuous_collision_checking.cpp File Reference
#include <gtest/gtest.h>
#include <ros/ros.h>
#include <moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h>
#include <moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h>
#include <moveit/collision_detection/collision_common.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/utils/robot_model_test_utils.h>
#include <moveit/collision_detection_bullet/collision_env_bullet.h>
#include <moveit/collision_detection_bullet/bullet_integration/basic_types.h>
#include <urdf_parser/urdf_parser.h>
#include <geometric_shapes/shape_operations.h>
Include dependency graph for test_bullet_continuous_collision_checking.cpp:

Go to the source code of this file.

Classes

class  BulletCollisionDetectionTester
 

Functions

void addCollisionObjects (cb::BulletCastBVHManager &checker)
 
void addCollisionObjectsMesh (cb::BulletCastBVHManager &checker)
 
int main (int argc, char **argv)
 
void runTest (cb::BulletCastBVHManager &checker, collision_detection::CollisionResult &result, std::vector< collision_detection::Contact > &result_vector, Eigen::Isometry3d &start_pos, Eigen::Isometry3d &end_pos)
 
void setToHome (moveit::core::RobotState &panda_state)
 Brings the panda robot in user defined home position. More...
 
 TEST (ContinuousCollisionUnit, BulletCastBVHCollisionBoxBoxUnit)
 
 TEST (ContinuousCollisionUnit, BulletCastMeshVsBox)
 
 TEST_F (BulletCollisionDetectionTester, ContinuousCollisionWorld)
 Two similar robot poses are used as start and end pose of a continuous collision check. More...
 
 TEST_F (BulletCollisionDetectionTester, DISABLED_ContinuousCollisionSelf)
 Continuous self collision checks are not supported yet by the bullet integration. More...
 

Function Documentation

◆ addCollisionObjects()

void addCollisionObjects ( cb::BulletCastBVHManager checker)

◆ addCollisionObjectsMesh()

void addCollisionObjectsMesh ( cb::BulletCastBVHManager checker)

◆ main()

int main ( int  argc,
char **  argv 
)

◆ runTest()

void runTest ( cb::BulletCastBVHManager checker,
collision_detection::CollisionResult result,
std::vector< collision_detection::Contact > &  result_vector,
Eigen::Isometry3d &  start_pos,
Eigen::Isometry3d &  end_pos 
)

◆ setToHome()

void setToHome ( moveit::core::RobotState panda_state)
inline

Brings the panda robot in user defined home position.

Definition at line 57 of file test_bullet_continuous_collision_checking.cpp.

◆ TEST() [1/2]

TEST ( ContinuousCollisionUnit  ,
BulletCastBVHCollisionBoxBoxUnit   
)

◆ TEST() [2/2]

TEST ( ContinuousCollisionUnit  ,
BulletCastMeshVsBox   
)

◆ TEST_F() [1/2]

TEST_F ( BulletCollisionDetectionTester  ,
ContinuousCollisionWorld   
)

Two similar robot poses are used as start and end pose of a continuous collision check.

Definition at line 270 of file test_bullet_continuous_collision_checking.cpp.

◆ TEST_F() [2/2]

TEST_F ( BulletCollisionDetectionTester  ,
DISABLED_ContinuousCollisionSelf   
)

Continuous self collision checks are not supported yet by the bullet integration.

Definition at line 229 of file test_bullet_continuous_collision_checking.cpp.



moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Nov 24 2020 03:26:41