#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 <geometric_shapes/body_operations.h>
#include <tf2_eigen/tf2_eigen.h>
#include <octomap/octomap.h>
#include <ros/console.h>
#include <memory>

Include dependency graph for test_distance_field.cpp:

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, TestOcTree)

	TEST (TestSignedPropagationDistanceField, TestPerformance)

	TEST (TestSignedPropagationDistanceField, TestReadWrite)

	TEST (TestSignedPropagationDistanceField, TestShape)

	TEST (TestSignedPropagationDistanceField, TestSignedAddRemovePoints)

Variables
static const double	DEPTH = 1.0

static const double	HEIGHT = 1.0

static const double	MAX_DIST = 0.3

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

◆ areDistanceFieldsDistancesEqual()

bool areDistanceFieldsDistancesEqual	(	const PropagationDistanceField &	df1,
		const PropagationDistanceField &	df2
	)

Definition at line 167 of file test_distance_field.cpp.

◆ check_distance_field()

void check_distance_field	(	const PropagationDistanceField &	df,
		const EigenSTL::vector_Vector3d &	points,
		int	numX,
		int	numY,
		int	numZ,
		bool	do_negs
	)

Definition at line 288 of file test_distance_field.cpp.

◆ checkOctomapVersusDistanceField()

bool checkOctomapVersusDistanceField	(	const PropagationDistanceField &	df,
		const octomap::OcTree &	octree
	)

Definition at line 199 of file test_distance_field.cpp.

◆ countLeafNodes()

unsigned int countLeafNodes ( const octomap::OcTree & octree )

Definition at line 273 of file test_distance_field.cpp.

◆ countOccupiedCells()

unsigned int countOccupiedCells ( const PropagationDistanceField & df )

Definition at line 254 of file test_distance_field.cpp.

◆ dist_sq()

int dist_sq	(	int	x,
		int	y,
		int	z
	)

Definition at line 64 of file test_distance_field.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 930 of file test_distance_field.cpp.

◆ POINT1()

static const Eigen::Vector3d POINT1	(	0.	1,
		0.	0,
		0.	0
	)

static

◆ POINT2()

static const Eigen::Vector3d POINT2	(	0.	0,
		0.	1,
		0.	2
	)

static

◆ POINT3()

static const Eigen::Vector3d POINT3	(	0.	4,
		0.	0,
		0.	0
	)

static

◆ print()

void print	(	PropagationDistanceField &	pdf,
		int	numX,
		int	numY,
		int	numZ
	)

Definition at line 69 of file test_distance_field.cpp.

◆ printBoth()

void printBoth	(	PropagationDistanceField &	pdf,
		int	numX,
		int	numY,
		int	numZ
	)

Definition at line 134 of file test_distance_field.cpp.

◆ printNeg()

void printNeg	(	PropagationDistanceField &	pdf,
		int	numX,
		int	numY,
		int	numZ
	)

Definition at line 98 of file test_distance_field.cpp.

◆ printPointCoords()

void printPointCoords ( const Eigen::Vector3i & p )

Definition at line 114 of file test_distance_field.cpp.

◆ TEST() [1/6]

TEST	(	TestPropagationDistanceField	,
		TestAddRemovePoints
	)

Definition at line 329 of file test_distance_field.cpp.

◆ TEST() [2/6]

TEST	(	TestSignedPropagationDistanceField	,
		TestOcTree
	)

Definition at line 785 of file test_distance_field.cpp.

◆ TEST() [3/6]

TEST	(	TestSignedPropagationDistanceField	,
		TestPerformance
	)

Definition at line 661 of file test_distance_field.cpp.

◆ TEST() [4/6]

TEST	(	TestSignedPropagationDistanceField	,
		TestReadWrite
	)

Definition at line 882 of file test_distance_field.cpp.

◆ TEST() [5/6]

TEST	(	TestSignedPropagationDistanceField	,
		TestShape
	)

Definition at line 601 of file test_distance_field.cpp.

◆ TEST() [6/6]

TEST	(	TestSignedPropagationDistanceField	,
		TestSignedAddRemovePoints
	)

Definition at line 431 of file test_distance_field.cpp.

Variable Documentation

◆ DEPTH

const double DEPTH = 1.0

static

Definition at line 53 of file test_distance_field.cpp.

◆ HEIGHT

const double HEIGHT = 1.0

static

Definition at line 52 of file test_distance_field.cpp.

◆ MAX_DIST

const double MAX_DIST = 0.3

static

Definition at line 58 of file test_distance_field.cpp.

◆ ORIGIN_X

const double ORIGIN_X = 0.0

static

Definition at line 55 of file test_distance_field.cpp.

◆ ORIGIN_Y

const double ORIGIN_Y = 0.0

static

Definition at line 56 of file test_distance_field.cpp.

◆ ORIGIN_Z

const double ORIGIN_Z = 0.0

static

Definition at line 57 of file test_distance_field.cpp.

◆ PERF_DEPTH

const double PERF_DEPTH = 4.0

static

Definition at line 653 of file test_distance_field.cpp.

◆ PERF_HEIGHT

const double PERF_HEIGHT = 3.0

static

Definition at line 652 of file test_distance_field.cpp.

◆ PERF_MAX_DIST

const double PERF_MAX_DIST = .25

static

Definition at line 658 of file test_distance_field.cpp.

◆ PERF_ORIGIN_X

const double PERF_ORIGIN_X = 0.0

static

Definition at line 655 of file test_distance_field.cpp.

◆ PERF_ORIGIN_Y

const double PERF_ORIGIN_Y = 0.0

static

Definition at line 656 of file test_distance_field.cpp.

◆ PERF_ORIGIN_Z

const double PERF_ORIGIN_Z = 0.0

static

Definition at line 657 of file test_distance_field.cpp.

◆ PERF_RESOLUTION

const double PERF_RESOLUTION = 0.02

static

Definition at line 654 of file test_distance_field.cpp.

◆ PERF_WIDTH

const double PERF_WIDTH = 3.0

static

Definition at line 651 of file test_distance_field.cpp.

◆ RESOLUTION

const double RESOLUTION = 0.1

static

Definition at line 54 of file test_distance_field.cpp.

◆ UNIFORM_DISTANCE

const unsigned int UNIFORM_DISTANCE = 10

static

Definition at line 659 of file test_distance_field.cpp.

◆ WIDTH

const double WIDTH = 1.0

static

Definition at line 51 of file test_distance_field.cpp.

Functions

Variables

Function Documentation

◆ areDistanceFieldsDistancesEqual()

◆ check_distance_field()

◆ checkOctomapVersusDistanceField()

◆ countLeafNodes()

◆ countOccupiedCells()

◆ dist_sq()

◆ main()

◆ POINT1()

◆ POINT2()

◆ POINT3()

◆ print()

◆ printBoth()

◆ printNeg()

◆ printPointCoords()

◆ TEST() [1/6]

◆ TEST() [2/6]

◆ TEST() [3/6]

◆ TEST() [4/6]

◆ TEST() [5/6]

◆ TEST() [6/6]

Variable Documentation

◆ DEPTH

◆ HEIGHT

◆ MAX_DIST

◆ ORIGIN_X

◆ ORIGIN_Y

◆ ORIGIN_Z

◆ PERF_DEPTH

◆ PERF_HEIGHT

◆ PERF_MAX_DIST

◆ PERF_ORIGIN_X

◆ PERF_ORIGIN_Y

◆ PERF_ORIGIN_Z

◆ PERF_RESOLUTION

◆ PERF_WIDTH

◆ RESOLUTION

◆ UNIFORM_DISTANCE

◆ WIDTH