test_fcl_collision_detection.cpp File Reference

#include <moveit/test_resources/config.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/collision_detection_fcl/collision_world_fcl.h>
#include <moveit/collision_detection_fcl/collision_robot_fcl.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 <boost/filesystem.hpp>

Include dependency graph for test_fcl_collision_detection.cpp:

Go to the source code of this file.

Classes
class	FclCollisionDetectionTester
Typedefs
typedef collision_detection::CollisionRobotFCL	DefaultCRobotType
typedef collision_detection::CollisionWorldFCL	DefaultCWorldType
Functions
int	main (int argc, char **argv)
	TEST_F (FclCollisionDetectionTester, InitOK)
	TEST_F (FclCollisionDetectionTester, DefaultNotInCollision)
	TEST_F (FclCollisionDetectionTester, LinksInCollision)
	TEST_F (FclCollisionDetectionTester, ContactReporting)
	TEST_F (FclCollisionDetectionTester, ContactPositions)
	TEST_F (FclCollisionDetectionTester, AttachedBodyTester)
	TEST_F (FclCollisionDetectionTester, DiffSceneTester)
	TEST_F (FclCollisionDetectionTester, ConvertObjectToAttached)
	TEST_F (FclCollisionDetectionTester, TestCollisionMapAdditionSpeed)
	TEST_F (FclCollisionDetectionTester, MoveMesh)
	TEST_F (FclCollisionDetectionTester, TestChangingShapeSize)
Variables
static std::string	kinect_dae_file = (boost::filesystem::path(MOVEIT_TEST_RESOURCES_DIR) / "urdf/meshes/sensors/kinect_v0/kinect.dae").string()
static std::string	srdf_file = (boost::filesystem::path(MOVEIT_TEST_RESOURCES_DIR) / "srdf/robot.xml").string()
static std::string	urdf_file = (boost::filesystem::path(MOVEIT_TEST_RESOURCES_DIR) / "urdf/robot.xml").string()

---

Typedef Documentation

typedef collision_detection::CollisionRobotFCL DefaultCRobotType

Definition at line 55 of file test_fcl_collision_detection.cpp.

typedef collision_detection::CollisionWorldFCL DefaultCWorldType

Author:

E. Gil Jones

Definition at line 54 of file test_fcl_collision_detection.cpp.

---

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 573 of file test_fcl_collision_detection.cpp.

TEST_F	(	FclCollisionDetectionTester	,
		InitOK
	)

Definition at line 122 of file test_fcl_collision_detection.cpp.

TEST_F	(	FclCollisionDetectionTester	,
		DefaultNotInCollision
	)

Definition at line 128 of file test_fcl_collision_detection.cpp.

TEST_F	(	FclCollisionDetectionTester	,
		LinksInCollision
	)

Definition at line 140 of file test_fcl_collision_detection.cpp.

TEST_F	(	FclCollisionDetectionTester	,
		ContactReporting
	)

Definition at line 180 of file test_fcl_collision_detection.cpp.

TEST_F	(	FclCollisionDetectionTester	,
		ContactPositions
	)

Definition at line 233 of file test_fcl_collision_detection.cpp.

TEST_F	(	FclCollisionDetectionTester	,
		AttachedBodyTester
	)

Definition at line 298 of file test_fcl_collision_detection.cpp.

TEST_F	(	FclCollisionDetectionTester	,
		DiffSceneTester
	)

Definition at line 361 of file test_fcl_collision_detection.cpp.

TEST_F	(	FclCollisionDetectionTester	,
		ConvertObjectToAttached
	)

Definition at line 415 of file test_fcl_collision_detection.cpp.

TEST_F	(	FclCollisionDetectionTester	,
		TestCollisionMapAdditionSpeed
	)

Definition at line 478 of file test_fcl_collision_detection.cpp.

TEST_F	(	FclCollisionDetectionTester	,
		MoveMesh
	)

Definition at line 496 of file test_fcl_collision_detection.cpp.

TEST_F	(	FclCollisionDetectionTester	,
		TestChangingShapeSize
	)

Definition at line 522 of file test_fcl_collision_detection.cpp.

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Variable Documentation

std::string kinect_dae_file = (boost::filesystem::path(MOVEIT_TEST_RESOURCES_DIR) / "urdf/meshes/sensors/kinect_v0/kinect.dae").string() [static]

Definition at line 59 of file test_fcl_collision_detection.cpp.

std::string srdf_file = (boost::filesystem::path(MOVEIT_TEST_RESOURCES_DIR) / "srdf/robot.xml").string() [static]

Definition at line 58 of file test_fcl_collision_detection.cpp.

std::string urdf_file = (boost::filesystem::path(MOVEIT_TEST_RESOURCES_DIR) / "urdf/robot.xml").string() [static]

Definition at line 57 of file test_fcl_collision_detection.cpp.