#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>
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, 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 |
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 930 of file test_distance_field.cpp.
|
static |
|
static |
|
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 | , |
TestOcTree | |||
) |
Definition at line 785 of file test_distance_field.cpp.
TEST | ( | TestSignedPropagationDistanceField | , |
TestPerformance | |||
) |
Definition at line 661 of file test_distance_field.cpp.
TEST | ( | TestSignedPropagationDistanceField | , |
TestReadWrite | |||
) |
Definition at line 882 of file test_distance_field.cpp.
TEST | ( | TestSignedPropagationDistanceField | , |
TestShape | |||
) |
Definition at line 601 of file test_distance_field.cpp.
TEST | ( | TestSignedPropagationDistanceField | , |
TestSignedAddRemovePoints | |||
) |
Definition at line 431 of file test_distance_field.cpp.
|
static |
Definition at line 53 of file test_distance_field.cpp.
|
static |
Definition at line 52 of file test_distance_field.cpp.
|
static |
Definition at line 58 of file test_distance_field.cpp.
|
static |
Definition at line 55 of file test_distance_field.cpp.
|
static |
Definition at line 56 of file test_distance_field.cpp.
|
static |
Definition at line 57 of file test_distance_field.cpp.
|
static |
Definition at line 653 of file test_distance_field.cpp.
|
static |
Definition at line 652 of file test_distance_field.cpp.
|
static |
Definition at line 658 of file test_distance_field.cpp.
|
static |
Definition at line 655 of file test_distance_field.cpp.
|
static |
Definition at line 656 of file test_distance_field.cpp.
|
static |
Definition at line 657 of file test_distance_field.cpp.
|
static |
Definition at line 654 of file test_distance_field.cpp.
|
static |
Definition at line 651 of file test_distance_field.cpp.
|
static |
Definition at line 54 of file test_distance_field.cpp.
|
static |
Definition at line 659 of file test_distance_field.cpp.
|
static |
Definition at line 51 of file test_distance_field.cpp.