test_all_valid.cpp
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2018, isys vision.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of isys vision nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Simon Schmeisser */
36 
37 #include <gtest/gtest.h>
41 
42 TEST(AllValid, Instantiate)
43 {
44  using namespace collision_detection;
47 
48  urdf::ModelInterfaceSharedPtr urdf_model;
49  urdf_model.reset(new urdf::ModelInterface());
50  srdf::ModelConstSharedPtr srdf_model;
51  srdf_model.reset(new srdf::Model());
52  robot_model::RobotModelConstPtr kmodel;
53  kmodel.reset(new robot_model::RobotModel(urdf_model, srdf_model));
54  CollisionRobotAllValid robot(kmodel);
55 }
56 
57 int main(int argc, char** argv)
58 {
59  testing::InitGoogleTest(&argc, argv);
60  return RUN_ALL_TESTS();
61 }
Generic interface to collision detection.
Definition of a kinematic model. This class is not thread safe, however multiple instances can be cre...
Definition: robot_model.h:67
int main(int argc, char **argv)
TEST(AllValid, Instantiate)


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Oct 18 2020 13:16:33