test_fcl_octomap.cpp File Reference

#include <boost/test/unit_test.hpp>
#include "fcl/octree.h"
#include "fcl/traversal/traversal_node_octree.h"
#include "fcl/broadphase/broadphase.h"
#include "fcl/shape/geometric_shape_to_BVH_model.h"
#include "fcl/math/transform.h"
#include "test_fcl_utility.h"
#include "fcl_resources/config.h"
#include <boost/filesystem.hpp>

Include dependency graph for test_fcl_octomap.cpp:

Go to the source code of this file.

Classes
struct	TStruct
Defines
#define	BOOST_TEST_MODULE   "FCL_OCTOMAP"
Functions
	BOOST_AUTO_TEST_CASE (test_octomap_cost)
	BOOST_AUTO_TEST_CASE (test_octomap_cost_mesh)
	BOOST_AUTO_TEST_CASE (test_octomap_collision)
	BOOST_AUTO_TEST_CASE (test_octomap_collision_mesh)
	BOOST_AUTO_TEST_CASE (test_octomap_collision_mesh_octomap_box)
	BOOST_AUTO_TEST_CASE (test_octomap_distance)
	BOOST_AUTO_TEST_CASE (test_octomap_distance_mesh)
	BOOST_AUTO_TEST_CASE (test_octomap_distance_mesh_octomap_box)
	BOOST_AUTO_TEST_CASE (test_octomap_bvh_obb_collision_obb)
	BOOST_AUTO_TEST_CASE (test_octomap_bvh_rss_d_distance_rss)
	BOOST_AUTO_TEST_CASE (test_octomap_bvh_obb_d_distance_obb)
	BOOST_AUTO_TEST_CASE (test_octomap_bvh_kios_d_distance_kios)
void	generateBoxesFromOctomap (std::vector< CollisionObject * > &env, OcTree &tree)
	Generate boxes from the octomap.
void	generateBoxesFromOctomapMesh (std::vector< CollisionObject * > &env, OcTree &tree)
	Generate boxes from the octomap.
void	generateEnvironments (std::vector< CollisionObject * > &env, double env_scale, std::size_t n)
	Generate environment with 3 * n objects: n spheres, n boxes and n cylinders.
void	generateEnvironmentsMesh (std::vector< CollisionObject * > &env, double env_scale, std::size_t n)
	Generate environment with 3 * n objects: n spheres, n boxes and n cylinders, all in mesh.
octomap::OcTree *	generateOcTree ()
	Generate an octree.
void	octomap_collision_test (double env_scale, std::size_t env_size, bool exhaustive, std::size_t num_max_contacts, bool use_mesh, bool use_mesh_octomap)
	Octomap collision with an environment with 3 * env_size objects.
template<typename BV >
void	octomap_collision_test_BVH (std::size_t n, bool exhaustive)
void	octomap_cost_test (double env_scale, std::size_t env_size, std::size_t num_max_cost_sources, bool use_mesh, bool use_mesh_octomap)
	Octomap collision with an environment with 3 * env_size objects, compute cost.
void	octomap_distance_test (double env_scale, std::size_t env_size, bool use_mesh, bool use_mesh_octomap)
	Octomap distance with an environment with 3 * env_size objects.
template<typename BV >
void	octomap_distance_test_BVH (std::size_t n)

---

Define Documentation

#define BOOST_TEST_MODULE   "FCL_OCTOMAP"

Author:

Jia Pan

Definition at line 37 of file test_fcl_octomap.cpp.

---

Function Documentation

BOOST_AUTO_TEST_CASE

(

test_octomap_cost

)

Definition at line 98 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE

(

test_octomap_cost_mesh

)

Definition at line 104 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE

(

test_octomap_collision

)

Definition at line 110 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE

(

test_octomap_collision_mesh

)

Definition at line 118 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE

(

test_octomap_collision_mesh_octomap_box

)

Definition at line 126 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE

(

test_octomap_distance

)

Definition at line 134 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE

(

test_octomap_distance_mesh

)

Definition at line 140 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE

(

test_octomap_distance_mesh_octomap_box

)

Definition at line 146 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE

(

test_octomap_bvh_obb_collision_obb

)

Definition at line 153 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE

(

test_octomap_bvh_rss_d_distance_rss

)

Definition at line 159 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE

(

test_octomap_bvh_obb_d_distance_obb

)

Definition at line 164 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE

(

test_octomap_bvh_kios_d_distance_kios

)

Definition at line 169 of file test_fcl_octomap.cpp.

void generateBoxesFromOctomap	(	std::vector< CollisionObject * > &	env,
		OcTree &	tree
	)

Generate boxes from the octomap.

Definition at line 603 of file test_fcl_octomap.cpp.

void generateBoxesFromOctomapMesh	(	std::vector< CollisionObject * > &	env,
		OcTree &	tree
	)

Generate boxes from the octomap.

Definition at line 656 of file test_fcl_octomap.cpp.

void generateEnvironments	(	std::vector< CollisionObject * > &	env,
		double	env_scale,
		std::size_t	n
	)

Generate environment with 3 * n objects: n spheres, n boxes and n cylinders.

void generateEnvironmentsMesh	(	std::vector< CollisionObject * > &	env,
		double	env_scale,
		std::size_t	n
	)

Generate environment with 3 * n objects: n spheres, n boxes and n cylinders, all in mesh.

octomap::OcTree * generateOcTree

(

)

Generate an octree.

Definition at line 715 of file test_fcl_octomap.cpp.

void octomap_collision_test	(	double	env_scale,
		std::size_t	env_size,
		bool	exhaustive,
		std::size_t	num_max_contacts,
		bool	use_mesh,
		bool	use_mesh_octomap
	)

Octomap collision with an environment with 3 * env_size objects.

Definition at line 416 of file test_fcl_octomap.cpp.

template<typename BV >

void octomap_collision_test_BVH	(	std::size_t	n,
		bool	exhaustive
	)

Definition at line 175 of file test_fcl_octomap.cpp.

void octomap_cost_test	(	double	env_scale,
		std::size_t	env_size,
		std::size_t	num_max_cost_sources,
		bool	use_mesh,
		bool	use_mesh_octomap
	)

Octomap collision with an environment with 3 * env_size objects, compute cost.

Definition at line 297 of file test_fcl_octomap.cpp.

void octomap_distance_test	(	double	env_scale,
		std::size_t	env_size,
		bool	use_mesh,
		bool	use_mesh_octomap
	)

Octomap distance with an environment with 3 * env_size objects.

Definition at line 515 of file test_fcl_octomap.cpp.

template<typename BV >

void octomap_distance_test_BVH

(

std::size_t

n

)

Definition at line 241 of file test_fcl_octomap.cpp.