#include <gtest/gtest.h>
#include <moveit/distance_field/voxel_grid.h>
#include <moveit/distance_field/propagation_distance_field.h>
#include <moveit/distance_field/distance_field_common.h>
#include <console_bridge/console.h>
#include <geometric_shapes/body_operations.h>
#include <eigen_conversions/eigen_msg.h>
#include <octomap/octomap.h>
#include <boost/make_shared.hpp>
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 | printNeg (PropagationDistanceField &pdf, int numX, int numY, int numZ) |
TEST (TestPropagationDistanceField, TestAddRemovePoints) | |
TEST (TestSignedPropagationDistanceField, TestSignedAddRemovePoints) | |
TEST (TestSignedPropagationDistanceField, TestShape) | |
TEST (TestSignedPropagationDistanceField, TestPerformance) | |
TEST (TestSignedPropagationDistanceField, TestOcTree) | |
TEST (TestSignedPropagationDistanceField, TestReadWrite) | |
Variables | |
static const double | depth = 1.0 |
static const double | height = 1.0 |
static const double | max_dist = 0.3 |
static const int | max_dist_in_voxels = max_dist/resolution+0.5 |
static const int | max_dist_sq_in_voxels = max_dist_in_voxels*max_dist_in_voxels |
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 |
bool areDistanceFieldsDistancesEqual | ( | const PropagationDistanceField & | df1, |
const PropagationDistanceField & | df2 | ||
) |
Definition at line 106 of file test_distance_field.cpp.
void check_distance_field | ( | const PropagationDistanceField & | df, |
const EigenSTL::vector_Vector3d & | points, | ||
int | numX, | ||
int | numY, | ||
int | numZ, | ||
bool | do_negs | ||
) |
Definition at line 210 of file test_distance_field.cpp.
bool checkOctomapVersusDistanceField | ( | const PropagationDistanceField & | df, |
const octomap::OcTree & | octree | ||
) |
Definition at line 131 of file test_distance_field.cpp.
unsigned int countLeafNodes | ( | const octomap::OcTree & | octree | ) |
Definition at line 194 of file test_distance_field.cpp.
unsigned int countOccupiedCells | ( | const PropagationDistanceField & | df | ) |
Definition at line 179 of file test_distance_field.cpp.
int dist_sq | ( | int | x, |
int | y, | ||
int | z | ||
) |
Definition at line 66 of file test_distance_field.cpp.
int main | ( | int | argc, |
char ** | argv | ||
) |
Definition at line 814 of file test_distance_field.cpp.
static const Eigen::Vector3d point1 | ( | 0. | 1, |
0. | 0, | ||
0. | 0 | ||
) | [static] |
static const Eigen::Vector3d point2 | ( | 0. | 0, |
0. | 1, | ||
0. | 2 | ||
) | [static] |
static const Eigen::Vector3d point3 | ( | 0. | 4, |
0. | 0, | ||
0. | 0 | ||
) | [static] |
void print | ( | PropagationDistanceField & | pdf, |
int | numX, | ||
int | numY, | ||
int | numZ | ||
) |
Definition at line 71 of file test_distance_field.cpp.
void printNeg | ( | PropagationDistanceField & | pdf, |
int | numX, | ||
int | numY, | ||
int | numZ | ||
) |
Definition at line 93 of file test_distance_field.cpp.
TEST | ( | TestPropagationDistanceField | , |
TestAddRemovePoints | |||
) |
Definition at line 247 of file test_distance_field.cpp.
TEST | ( | TestSignedPropagationDistanceField | , |
TestSignedAddRemovePoints | |||
) |
Definition at line 339 of file test_distance_field.cpp.
TEST | ( | TestSignedPropagationDistanceField | , |
TestShape | |||
) |
Definition at line 454 of file test_distance_field.cpp.
TEST | ( | TestSignedPropagationDistanceField | , |
TestPerformance | |||
) |
Definition at line 531 of file test_distance_field.cpp.
TEST | ( | TestSignedPropagationDistanceField | , |
TestOcTree | |||
) |
Definition at line 670 of file test_distance_field.cpp.
TEST | ( | TestSignedPropagationDistanceField | , |
TestReadWrite | |||
) |
Definition at line 761 of file test_distance_field.cpp.
const double depth = 1.0 [static] |
Definition at line 52 of file test_distance_field.cpp.
const double height = 1.0 [static] |
Definition at line 51 of file test_distance_field.cpp.
const double max_dist = 0.3 [static] |
Definition at line 57 of file test_distance_field.cpp.
const int max_dist_in_voxels = max_dist/resolution+0.5 [static] |
Definition at line 59 of file test_distance_field.cpp.
const int max_dist_sq_in_voxels = max_dist_in_voxels*max_dist_in_voxels [static] |
Definition at line 60 of file test_distance_field.cpp.
const double origin_x = 0.0 [static] |
Definition at line 54 of file test_distance_field.cpp.
const double origin_y = 0.0 [static] |
Definition at line 55 of file test_distance_field.cpp.
const double origin_z = 0.0 [static] |
Definition at line 56 of file test_distance_field.cpp.
const double PERF_DEPTH = 4.0 [static] |
Definition at line 523 of file test_distance_field.cpp.
const double PERF_HEIGHT = 3.0 [static] |
Definition at line 522 of file test_distance_field.cpp.
const double PERF_MAX_DIST = .25 [static] |
Definition at line 528 of file test_distance_field.cpp.
const double PERF_ORIGIN_X = 0.0 [static] |
Definition at line 525 of file test_distance_field.cpp.
const double PERF_ORIGIN_Y = 0.0 [static] |
Definition at line 526 of file test_distance_field.cpp.
const double PERF_ORIGIN_Z = 0.0 [static] |
Definition at line 527 of file test_distance_field.cpp.
const double PERF_RESOLUTION = 0.02 [static] |
Definition at line 524 of file test_distance_field.cpp.
const double PERF_WIDTH = 3.0 [static] |
Definition at line 521 of file test_distance_field.cpp.
const double resolution = 0.1 [static] |
Definition at line 53 of file test_distance_field.cpp.
const unsigned int UNIFORM_DISTANCE = 10 [static] |
Definition at line 529 of file test_distance_field.cpp.
const double width = 1.0 [static] |
Definition at line 50 of file test_distance_field.cpp.