test_distance_field.cpp File Reference

#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 <eigen_conversions/eigen_msg.h>
#include <octomap/octomap.h>
#include <ros/console.h>
#include <memory>

Include dependency graph for test_distance_field.cpp:

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 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 167 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 288 of file test_distance_field.cpp.

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

Definition at line 199 of file test_distance_field.cpp.

unsigned int countLeafNodes

(

const octomap::OcTree &

octree

)

Definition at line 273 of file test_distance_field.cpp.

unsigned int countOccupiedCells

(

const PropagationDistanceField &

df

)

Definition at line 254 of file test_distance_field.cpp.

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

Definition at line 64 of file test_distance_field.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 932 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 69 of file test_distance_field.cpp.

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

Definition at line 134 of file test_distance_field.cpp.

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

Definition at line 98 of file test_distance_field.cpp.

void printPointCoords

(

const Eigen::Vector3i &

p

)

Definition at line 114 of file test_distance_field.cpp.

TEST	(	TestPropagationDistanceField	,
		TestAddRemovePoints
	)

Definition at line 329 of file test_distance_field.cpp.

TEST	(	TestSignedPropagationDistanceField	,
		TestSignedAddRemovePoints
	)

Definition at line 431 of file test_distance_field.cpp.

TEST	(	TestSignedPropagationDistanceField	,
		TestShape
	)

Definition at line 601 of file test_distance_field.cpp.

TEST	(	TestSignedPropagationDistanceField	,
		TestPerformance
	)

Definition at line 661 of file test_distance_field.cpp.

TEST	(	TestSignedPropagationDistanceField	,
		TestOcTree
	)

Definition at line 787 of file test_distance_field.cpp.

TEST	(	TestSignedPropagationDistanceField	,
		TestReadWrite
	)

Definition at line 884 of file test_distance_field.cpp.

Variable Documentation

const double depth = 1.0

static

Definition at line 53 of file test_distance_field.cpp.

const double height = 1.0

static

Definition at line 52 of file test_distance_field.cpp.

const double max_dist = 0.3

static

Definition at line 58 of file test_distance_field.cpp.

const double origin_x = 0.0

static

Definition at line 55 of file test_distance_field.cpp.

const double origin_y = 0.0

static

Definition at line 56 of file test_distance_field.cpp.

const double origin_z = 0.0

static

Definition at line 57 of file test_distance_field.cpp.

const double PERF_DEPTH = 4.0

static

Definition at line 653 of file test_distance_field.cpp.

const double PERF_HEIGHT = 3.0

static

Definition at line 652 of file test_distance_field.cpp.

const double PERF_MAX_DIST = .25

static

Definition at line 658 of file test_distance_field.cpp.

const double PERF_ORIGIN_X = 0.0

static

Definition at line 655 of file test_distance_field.cpp.

const double PERF_ORIGIN_Y = 0.0

static

Definition at line 656 of file test_distance_field.cpp.

const double PERF_ORIGIN_Z = 0.0

static

Definition at line 657 of file test_distance_field.cpp.

const double PERF_RESOLUTION = 0.02

static

Definition at line 654 of file test_distance_field.cpp.

const double PERF_WIDTH = 3.0

static

Definition at line 651 of file test_distance_field.cpp.

const double resolution = 0.1

static

Definition at line 54 of file test_distance_field.cpp.

const unsigned int UNIFORM_DISTANCE = 10

static

Definition at line 659 of file test_distance_field.cpp.

const double width = 1.0

static

Definition at line 51 of file test_distance_field.cpp.