#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <iostream>
#include <fstream>
#include <kdl/treefksolverpos_recursive.hpp>
#include <tesseract_geometry/geometries.h>
#include <tesseract_common/utils.h>
#include <tesseract_scene_graph/graph.h>
#include <tesseract_scene_graph/link.h>
#include <tesseract_scene_graph/joint.h>
#include <tesseract_scene_graph/kdl_parser.h>
#include <tesseract_scene_graph/scene_state.h>

Include dependency graph for tesseract_scene_graph_unit.cpp:

Functions
tesseract_scene_graph::SceneGraph	buildTestSceneGraph ()

tesseract_scene_graph::SceneGraph	buildTestSceneGraphForSubTree ()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP void	checkSceneGraph (tesseract_scene_graph::SceneGraph &scene_graph)

tesseract_scene_graph::SceneGraph	createTestSceneGraph ()

int	main (int argc, char **argv)

void	printKDLTree (const KDL::SegmentMap::const_iterator &link, const std::string &prefix)

void	runTest (tesseract_scene_graph::SceneGraph &g)

	TEST (TesseractSceneGraphUnit, GetInboundJointsUnit)

	TEST (TesseractSceneGraphUnit, GetOutboundJointsUnit)

	TEST (TesseractSceneGraphUnit, GetSourceLinkUnit)

	TEST (TesseractSceneGraphUnit, GetTargetLinkUnit)

	TEST (TesseractSceneGraphUnit, LoadKDLUnit)

	TEST (TesseractSceneGraphUnit, LoadSubKDLUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphAddJointUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphAddLinkJointPairUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphAddLinkUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphChangeJointAccelerationLimitsUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphChangeJointJerkLimitsUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphChangeJointLimitsUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphChangeJointOriginUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphChangeJointPositionLimitsUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphChangeJointVelocityLimitsUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphClearUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphGetLinkJointUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphInsertEmptyUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphInsertWithJointWithPrefixUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphInsertWithoutJointNoPrefixUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphInsertWithoutJointWithPrefixUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphKDLConversions)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphMoveJointUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphMoveLinkUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphRemoveAllowedCollisionUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphRemoveJointUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphRemoveLinkUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphRootLinkUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneGraphUnit)

	TEST (TesseractSceneGraphUnit, TesseractSceneState)

	TEST (TesseractSceneGraphUnit, TestChangeJointOrigin)

void	testSceneGraphKDLTree (KDL::Tree &tree)

void	testSubSceneGraphKDLTree (tesseract_scene_graph::KDLTreeData &data, tesseract_scene_graph::KDLTreeData &full_data, const std::unordered_map< std::string, double > &joint_values)

Function Documentation

◆ buildTestSceneGraph()

tesseract_scene_graph::SceneGraph buildTestSceneGraph ( )

Definition at line 811 of file tesseract_scene_graph_unit.cpp.

◆ buildTestSceneGraphForSubTree()

tesseract_scene_graph::SceneGraph buildTestSceneGraphForSubTree ( )

Definition at line 870 of file tesseract_scene_graph_unit.cpp.

◆ checkSceneGraph()

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP void checkSceneGraph ( tesseract_scene_graph::SceneGraph & scene_graph )

Definition at line 20 of file tesseract_scene_graph_unit.cpp.

◆ createTestSceneGraph()

tesseract_scene_graph::SceneGraph createTestSceneGraph ( )

Definition at line 40 of file tesseract_scene_graph_unit.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 1618 of file tesseract_scene_graph_unit.cpp.

◆ printKDLTree()

void printKDLTree	(	const KDL::SegmentMap::const_iterator &	link,
		const std::string &	prefix
	)

Definition at line 802 of file tesseract_scene_graph_unit.cpp.

◆ runTest()

void runTest ( tesseract_scene_graph::SceneGraph & g )

Definition at line 95 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [1/31]

TEST	(	TesseractSceneGraphUnit	,
		GetInboundJointsUnit
	)

Definition at line 1097 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [2/31]

TEST	(	TesseractSceneGraphUnit	,
		GetOutboundJointsUnit
	)

Definition at line 1115 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [3/31]

TEST	(	TesseractSceneGraphUnit	,
		GetSourceLinkUnit
	)

Definition at line 1063 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [4/31]

TEST	(	TesseractSceneGraphUnit	,
		GetTargetLinkUnit
	)

Definition at line 1080 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [5/31]

TEST	(	TesseractSceneGraphUnit	,
		LoadKDLUnit
	)

Definition at line 1147 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [6/31]

TEST	(	TesseractSceneGraphUnit	,
		LoadSubKDLUnit
	)

Definition at line 1215 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [7/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphAddJointUnit
	)

Definition at line 685 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [8/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphAddLinkJointPairUnit
	)

Definition at line 332 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [9/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphAddLinkUnit
	)

Definition at line 379 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [10/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphChangeJointAccelerationLimitsUnit
	)

Definition at line 613 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [11/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphChangeJointJerkLimitsUnit
	)

Definition at line 634 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [12/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphChangeJointLimitsUnit
	)

Definition at line 538 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [13/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphChangeJointOriginUnit
	)

Definition at line 517 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [14/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphChangeJointPositionLimitsUnit
	)

Definition at line 570 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [15/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphChangeJointVelocityLimitsUnit
	)

Definition at line 592 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [16/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphClearUnit
	)

Definition at line 294 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [17/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphGetLinkJointUnit
	)

Definition at line 320 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [18/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphInsertEmptyUnit
	)

Definition at line 1321 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [19/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphInsertWithJointWithPrefixUnit
	)

Definition at line 1447 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [20/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphInsertWithoutJointNoPrefixUnit
	)

Definition at line 1361 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [21/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphInsertWithoutJointWithPrefixUnit
	)

Definition at line 1398 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [22/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphKDLConversions
	)

Definition at line 1523 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [23/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphMoveJointUnit
	)

Definition at line 655 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [24/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphMoveLinkUnit
	)

Definition at line 459 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [25/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphRemoveAllowedCollisionUnit
	)

Definition at line 501 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [26/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphRemoveJointUnit
	)

Definition at line 762 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [27/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphRemoveLinkUnit
	)

Todo:: Doing this causes the test to fail but assign to new object works. Need to look into why

Definition at line 403 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [28/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphRootLinkUnit
	)

Definition at line 310 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [29/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneGraphUnit
	)

Definition at line 273 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [30/31]

TEST	(	TesseractSceneGraphUnit	,
		TesseractSceneState
	)

Definition at line 1506 of file tesseract_scene_graph_unit.cpp.

◆ TEST() [31/31]

TEST	(	TesseractSceneGraphUnit	,
		TestChangeJointOrigin
	)

Definition at line 1293 of file tesseract_scene_graph_unit.cpp.

◆ testSceneGraphKDLTree()

void testSceneGraphKDLTree ( KDL::Tree & tree )

Definition at line 941 of file tesseract_scene_graph_unit.cpp.

◆ testSubSceneGraphKDLTree()

void testSubSceneGraphKDLTree	(	tesseract_scene_graph::KDLTreeData &	data,
		tesseract_scene_graph::KDLTreeData &	full_data,
		const std::unordered_map< std::string, double > &	joint_values
	)

Definition at line 998 of file tesseract_scene_graph_unit.cpp.

Functions