Classes | Functions
test_fcl_env.cpp File Reference
#include <gtest/gtest.h>
#include <ros/ros.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_fcl/collision_common.h>
#include <moveit/collision_detection_fcl/collision_env_fcl.h>
#include <urdf_parser/urdf_parser.h>
#include <geometric_shapes/shape_operations.h>
Include dependency graph for test_fcl_env.cpp:

Go to the source code of this file.

Classes

class  CollisionDetectionEnvTest
 

Functions

int main (int argc, char **argv)
 
void setToHome (moveit::core::RobotState &panda_state)
 Brings the panda robot in user defined home position. More...
 
 TEST_F (CollisionDetectionEnvTest, DefaultNotInCollision)
 Tests the default values specified in the SRDF if they are collision free. More...
 
 TEST_F (CollisionDetectionEnvTest, DISABLED_ContinuousCollisionSelf)
 Continuous self collision checks of the robot. More...
 
 TEST_F (CollisionDetectionEnvTest, DISABLED_ContinuousCollisionWorld)
 Two similar robot poses are used as start and end pose of a continuous collision check. More...
 
 TEST_F (CollisionDetectionEnvTest, InitOK)
 Correct setup testing. More...
 
 TEST_F (CollisionDetectionEnvTest, LinksInCollision)
 A configuration where the robot should collide with itself. More...
 
 TEST_F (CollisionDetectionEnvTest, PaddingTest)
 Tests the padding through expanding the link geometry in such a way that a collision occurs. More...
 
 TEST_F (CollisionDetectionEnvTest, RobotWorldCollision_1)
 Adding obstacles to the world which are tested against the robot. Simple cases. More...
 
 TEST_F (CollisionDetectionEnvTest, RobotWorldCollision_2)
 Adding obstacles to the world which are tested against the robot. More...
 

Function Documentation

◆ main()

int main ( int  argc,
char **  argv 
)

Definition at line 320 of file test_fcl_env.cpp.

◆ setToHome()

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

Brings the panda robot in user defined home position.

Definition at line 53 of file test_fcl_env.cpp.

◆ TEST_F() [1/8]

TEST_F ( CollisionDetectionEnvTest  ,
DefaultNotInCollision   
)

Tests the default values specified in the SRDF if they are collision free.

Definition at line 121 of file test_fcl_env.cpp.

◆ TEST_F() [2/8]

TEST_F ( CollisionDetectionEnvTest  ,
DISABLED_ContinuousCollisionSelf   
)

Continuous self collision checks of the robot.

Functionality not supported yet.

Definition at line 228 of file test_fcl_env.cpp.

◆ TEST_F() [3/8]

TEST_F ( CollisionDetectionEnvTest  ,
DISABLED_ContinuousCollisionWorld   
)

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

Functionality not supported yet.

Definition at line 272 of file test_fcl_env.cpp.

◆ TEST_F() [4/8]

TEST_F ( CollisionDetectionEnvTest  ,
InitOK   
)

Correct setup testing.

Definition at line 115 of file test_fcl_env.cpp.

◆ TEST_F() [5/8]

TEST_F ( CollisionDetectionEnvTest  ,
LinksInCollision   
)

A configuration where the robot should collide with itself.

Definition at line 130 of file test_fcl_env.cpp.

◆ TEST_F() [6/8]

TEST_F ( CollisionDetectionEnvTest  ,
PaddingTest   
)

Tests the padding through expanding the link geometry in such a way that a collision occurs.

Definition at line 194 of file test_fcl_env.cpp.

◆ TEST_F() [7/8]

TEST_F ( CollisionDetectionEnvTest  ,
RobotWorldCollision_1   
)

Adding obstacles to the world which are tested against the robot. Simple cases.

Definition at line 143 of file test_fcl_env.cpp.

◆ TEST_F() [8/8]

TEST_F ( CollisionDetectionEnvTest  ,
RobotWorldCollision_2   
)

Adding obstacles to the world which are tested against the robot.

Definition at line 173 of file test_fcl_env.cpp.



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