#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/utils/robot_model_test_utils.h>
#include <moveit/planning_scene/planning_scene.h>
#include <gtest/gtest.h>
#include <thread>
#include <moveit/collision_detection/collision_common.h>
#include <moveit/collision_detection/collision_plugin_cache.h>

Include dependency graph for test_multi_threaded.cpp:

Classes
class	CollisionDetectorTests

Macros
#define	INSTANTIATE_TEST_SUITE_P(...) INSTANTIATE_TEST_CASE_P(__VA_ARGS__)

Functions
	INSTANTIATE_TEST_SUITE_P (PluginTests, CollisionDetectorTests, testing::Values("FCL", "Bullet"))

int	main (int argc, char **argv)

bool	runCollisionDetection (unsigned int, unsigned int trials, const planning_scene::PlanningScene &scene, const moveit::core::RobotState &state)

void	runCollisionDetectionAssert (unsigned int id, unsigned int trials, const planning_scene::PlanningScene &scene, const moveit::core::RobotState &state, bool expected_result)

	TEST_P (CollisionDetectorTests, Threaded)
	Tests the collision detector in multiple threads. More...

Variables
const int	THREADS = 2

const int	TRIALS = 1000

Macro Definition Documentation

◆ INSTANTIATE_TEST_SUITE_P

#define INSTANTIATE_TEST_SUITE_P ( ... ) INSTANTIATE_TEST_CASE_P(__VA_ARGS__)

Definition at line 143 of file test_multi_threaded.cpp.

Function Documentation

◆ INSTANTIATE_TEST_SUITE_P()

INSTANTIATE_TEST_SUITE_P	(	PluginTests	,
		CollisionDetectorTests	,
		testing::Values("FCL", "Bullet")
	)

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 149 of file test_multi_threaded.cpp.

◆ runCollisionDetection()

bool runCollisionDetection	(	unsigned int	,
		unsigned int	trials,
		const planning_scene::PlanningScene &	scene,
		const moveit::core::RobotState &	state
	)

Definition at line 50 of file test_multi_threaded.cpp.

◆ runCollisionDetectionAssert()

void runCollisionDetectionAssert	(	unsigned int	id,
		unsigned int	trials,
		const planning_scene::PlanningScene &	scene,
		const moveit::core::RobotState &	state,
		bool	expected_result
	)

Definition at line 63 of file test_multi_threaded.cpp.

◆ TEST_P()

TEST_P	(	CollisionDetectorTests	,
		Threaded
	)

Tests the collision detector in multiple threads.

Definition at line 99 of file test_multi_threaded.cpp.

Variable Documentation

◆ THREADS

const int THREADS = 2

Definition at line 48 of file test_multi_threaded.cpp.

◆ TRIALS

const int TRIALS = 1000

Definition at line 47 of file test_multi_threaded.cpp.

Classes

Macros

Functions

Variables