#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/utils/robot_model_test_utils.h>
#include <moveit/collision_detection/collision_common.h>
#include <moveit/collision_detection/collision_env.h>
#include <moveit/collision_detection/collision_detector_allocator.h>
#include <urdf_parser/urdf_parser.h>
#include <geometric_shapes/shape_operations.h>
#include <gtest/gtest.h>
#include <sstream>
#include <algorithm>
#include <ctype.h>
#include <fstream>

Include dependency graph for test_collision_common_panda.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	CollisionDetectorPandaTest< CollisionAllocatorType >

class	DistanceCheckPandaTest< CollisionAllocatorType >

class	DistanceFullPandaTest< CollisionAllocatorType >

Functions
	REGISTER_TYPED_TEST_CASE_P (CollisionDetectorPandaTest, InitOK, DefaultNotInCollision, LinksInCollision, RobotWorldCollision_1, RobotWorldCollision_2, PaddingTest, DistanceSelf, DistanceWorld)

	REGISTER_TYPED_TEST_CASE_P (DistanceCheckPandaTest, DistanceSingle)

	REGISTER_TYPED_TEST_CASE_P (DistanceFullPandaTest, DistancePoints)

void	setToHome (moveit::core::RobotState &panda_state)
	Brings the panda robot in user defined home position. More...

	TYPED_TEST_CASE_P (CollisionDetectorPandaTest)

	TYPED_TEST_CASE_P (DistanceCheckPandaTest)

	TYPED_TEST_CASE_P (DistanceFullPandaTest)

	TYPED_TEST_P (CollisionDetectorPandaTest, DefaultNotInCollision)
	Tests the default values specified in the SRDF if they are collision free. More...

	TYPED_TEST_P (CollisionDetectorPandaTest, DistanceSelf)
	Tests the distance reporting with the robot itself. More...

	TYPED_TEST_P (CollisionDetectorPandaTest, DistanceWorld)

	TYPED_TEST_P (CollisionDetectorPandaTest, InitOK)
	Correct setup testing. More...

	TYPED_TEST_P (CollisionDetectorPandaTest, LinksInCollision)
	A configuration where the robot should collide with itself. More...

	TYPED_TEST_P (CollisionDetectorPandaTest, PaddingTest)
	Tests the padding through expanding the link geometry in such a way that a collision occurs. More...

	TYPED_TEST_P (CollisionDetectorPandaTest, RobotWorldCollision_1)
	Adding obstacles to the world which are tested against the robot. Simple cases. More...

	TYPED_TEST_P (CollisionDetectorPandaTest, RobotWorldCollision_2)
	Adding obstacles to the world which are tested against the robot. More...

	TYPED_TEST_P (DistanceCheckPandaTest, DistanceSingle)

	TYPED_TEST_P (DistanceFullPandaTest, DistancePoints)
	Tests if nearest points are computed correctly. More...

Function Documentation

◆ REGISTER_TYPED_TEST_CASE_P() [1/3]

REGISTER_TYPED_TEST_CASE_P	(	CollisionDetectorPandaTest	,
		InitOK	,
		DefaultNotInCollision	,
		LinksInCollision	,
		RobotWorldCollision_1	,
		RobotWorldCollision_2	,
		PaddingTest	,
		DistanceSelf	,
		DistanceWorld
	)

◆ REGISTER_TYPED_TEST_CASE_P() [2/3]

REGISTER_TYPED_TEST_CASE_P	(	DistanceCheckPandaTest	,
		DistanceSingle
	)

◆ REGISTER_TYPED_TEST_CASE_P() [3/3]

REGISTER_TYPED_TEST_CASE_P	(	DistanceFullPandaTest	,
		DistancePoints
	)

◆ setToHome()

void setToHome ( moveit::core::RobotState & panda_state )

inline

Brings the panda robot in user defined home position.

Definition at line 54 of file test_collision_common_panda.h.

◆ TYPED_TEST_CASE_P() [1/3]

TYPED_TEST_CASE_P ( CollisionDetectorPandaTest )

◆ TYPED_TEST_CASE_P() [2/3]

TYPED_TEST_CASE_P ( DistanceCheckPandaTest )

◆ TYPED_TEST_CASE_P() [3/3]

TYPED_TEST_CASE_P ( DistanceFullPandaTest )

◆ TYPED_TEST_P() [1/10]

TYPED_TEST_P	(	CollisionDetectorPandaTest	,
		DefaultNotInCollision
	)

Tests the default values specified in the SRDF if they are collision free.

Definition at line 113 of file test_collision_common_panda.h.

◆ TYPED_TEST_P() [2/10]

TYPED_TEST_P	(	CollisionDetectorPandaTest	,
		DistanceSelf
	)

Tests the distance reporting with the robot itself.

Definition at line 222 of file test_collision_common_panda.h.

◆ TYPED_TEST_P() [3/10]

TYPED_TEST_P	(	CollisionDetectorPandaTest	,
		DistanceWorld
	)

Definition at line 232 of file test_collision_common_panda.h.

◆ TYPED_TEST_P() [4/10]

TYPED_TEST_P	(	CollisionDetectorPandaTest	,
		InitOK
	)

Correct setup testing.

Definition at line 107 of file test_collision_common_panda.h.

◆ TYPED_TEST_P() [5/10]

TYPED_TEST_P	(	CollisionDetectorPandaTest	,
		LinksInCollision
	)

A configuration where the robot should collide with itself.

Definition at line 122 of file test_collision_common_panda.h.

◆ TYPED_TEST_P() [6/10]

TYPED_TEST_P	(	CollisionDetectorPandaTest	,
		PaddingTest
	)

Tests the padding through expanding the link geometry in such a way that a collision occurs.

Definition at line 190 of file test_collision_common_panda.h.

◆ TYPED_TEST_P() [7/10]

TYPED_TEST_P	(	CollisionDetectorPandaTest	,
		RobotWorldCollision_1
	)

Adding obstacles to the world which are tested against the robot. Simple cases.

Definition at line 138 of file test_collision_common_panda.h.

◆ TYPED_TEST_P() [8/10]

TYPED_TEST_P	(	CollisionDetectorPandaTest	,
		RobotWorldCollision_2
	)

Adding obstacles to the world which are tested against the robot.

Definition at line 168 of file test_collision_common_panda.h.

◆ TYPED_TEST_P() [9/10]

TYPED_TEST_P	(	DistanceCheckPandaTest	,
		DistanceSingle
	)

Definition at line 261 of file test_collision_common_panda.h.

◆ TYPED_TEST_P() [10/10]

TYPED_TEST_P	(	DistanceFullPandaTest	,
		DistancePoints
	)

Tests if nearest points are computed correctly.

Definition at line 310 of file test_collision_common_panda.h.

Classes

Functions