#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 <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 | 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, 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 |
Function Documentation
| bool areDistanceFieldsDistancesEqual | ( | const PropagationDistanceField & | df1, |
| const PropagationDistanceField & | df2 | ||
| ) |
Definition at line 169 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 290 of file test_distance_field.cpp.
| bool checkOctomapVersusDistanceField | ( | const PropagationDistanceField & | df, |
| const octomap::OcTree & | octree | ||
| ) |
Definition at line 201 of file test_distance_field.cpp.
| unsigned int countLeafNodes | ( | const octomap::OcTree & | octree | ) |
Definition at line 275 of file test_distance_field.cpp.
| unsigned int countOccupiedCells | ( | const PropagationDistanceField & | df | ) |
Definition at line 256 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 934 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 printBoth | ( | PropagationDistanceField & | pdf, |
| int | numX, | ||
| int | numY, | ||
| int | numZ | ||
| ) |
Definition at line 136 of file test_distance_field.cpp.
| void printNeg | ( | PropagationDistanceField & | pdf, |
| int | numX, | ||
| int | numY, | ||
| int | numZ | ||
| ) |
Definition at line 100 of file test_distance_field.cpp.
| void printPointCoords | ( | const Eigen::Vector3i & | p | ) |
Definition at line 116 of file test_distance_field.cpp.
| TEST | ( | TestPropagationDistanceField | , |
| TestAddRemovePoints | |||
| ) |
Definition at line 331 of file test_distance_field.cpp.
| TEST | ( | TestSignedPropagationDistanceField | , |
| TestSignedAddRemovePoints | |||
| ) |
Definition at line 433 of file test_distance_field.cpp.
| TEST | ( | TestSignedPropagationDistanceField | , |
| TestShape | |||
| ) |
Definition at line 603 of file test_distance_field.cpp.
| TEST | ( | TestSignedPropagationDistanceField | , |
| TestPerformance | |||
| ) |
Definition at line 663 of file test_distance_field.cpp.
| TEST | ( | TestSignedPropagationDistanceField | , |
| TestOcTree | |||
| ) |
Definition at line 789 of file test_distance_field.cpp.
| TEST | ( | TestSignedPropagationDistanceField | , |
| TestReadWrite | |||
| ) |
Definition at line 886 of file test_distance_field.cpp.
Variable Documentation
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 655 of file test_distance_field.cpp.
const double PERF_HEIGHT = 3.0 [static] |
Definition at line 654 of file test_distance_field.cpp.
const double PERF_MAX_DIST = .25 [static] |
Definition at line 660 of file test_distance_field.cpp.
const double PERF_ORIGIN_X = 0.0 [static] |
Definition at line 657 of file test_distance_field.cpp.
const double PERF_ORIGIN_Y = 0.0 [static] |
Definition at line 658 of file test_distance_field.cpp.
const double PERF_ORIGIN_Z = 0.0 [static] |
Definition at line 659 of file test_distance_field.cpp.
const double PERF_RESOLUTION = 0.02 [static] |
Definition at line 656 of file test_distance_field.cpp.
const double PERF_WIDTH = 3.0 [static] |
Definition at line 653 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 661 of file test_distance_field.cpp.
const double width = 1.0 [static] |
Definition at line 50 of file test_distance_field.cpp.