Functions | Variables
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 <console_bridge/console.h>
#include <geometric_shapes/body_operations.h>
#include <eigen_conversions/eigen_msg.h>
#include <octomap/octomap.h>
#include <boost/make_shared.hpp>
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 int max_dist_in_voxels = max_dist / resolution + 0.5
static const int max_dist_sq_in_voxels = max_dist_in_voxels * max_dist_in_voxels
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

Definition at line 169 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 290 of file test_distance_field.cpp.

Definition at line 201 of file test_distance_field.cpp.

unsigned int countLeafNodes ( const octomap::OcTree octree)

Definition at line 275 of file test_distance_field.cpp.

unsigned int countOccupiedCells ( const PropagationDistanceField df)

Definition at line 256 of file test_distance_field.cpp.

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

Definition at line 66 of file test_distance_field.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 934 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 71 of file test_distance_field.cpp.

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

Definition at line 136 of file test_distance_field.cpp.

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

Definition at line 100 of file test_distance_field.cpp.

void printPointCoords ( const Eigen::Vector3i &  p)

Definition at line 116 of file test_distance_field.cpp.

TEST ( TestPropagationDistanceField  ,
TestAddRemovePoints   
)

Definition at line 331 of file test_distance_field.cpp.

TEST ( TestSignedPropagationDistanceField  ,
TestSignedAddRemovePoints   
)

Definition at line 433 of file test_distance_field.cpp.

TEST ( TestSignedPropagationDistanceField  ,
TestShape   
)

Definition at line 603 of file test_distance_field.cpp.

TEST ( TestSignedPropagationDistanceField  ,
TestPerformance   
)

Definition at line 663 of file test_distance_field.cpp.

TEST ( TestSignedPropagationDistanceField  ,
TestOcTree   
)

Definition at line 789 of file test_distance_field.cpp.

TEST ( TestSignedPropagationDistanceField  ,
TestReadWrite   
)

Definition at line 886 of file test_distance_field.cpp.


Variable Documentation

const double depth = 1.0 [static]

Definition at line 52 of file test_distance_field.cpp.

const double height = 1.0 [static]

Definition at line 51 of file test_distance_field.cpp.

const double max_dist = 0.3 [static]

Definition at line 57 of file test_distance_field.cpp.

const int max_dist_in_voxels = max_dist / resolution + 0.5 [static]

Definition at line 59 of file test_distance_field.cpp.

Definition at line 60 of file test_distance_field.cpp.

const double origin_x = 0.0 [static]

Definition at line 54 of file test_distance_field.cpp.

const double origin_y = 0.0 [static]

Definition at line 55 of file test_distance_field.cpp.

const double origin_z = 0.0 [static]

Definition at line 56 of file test_distance_field.cpp.

const double PERF_DEPTH = 4.0 [static]

Definition at line 655 of file test_distance_field.cpp.

const double PERF_HEIGHT = 3.0 [static]

Definition at line 654 of file test_distance_field.cpp.

const double PERF_MAX_DIST = .25 [static]

Definition at line 660 of file test_distance_field.cpp.

const double PERF_ORIGIN_X = 0.0 [static]

Definition at line 657 of file test_distance_field.cpp.

const double PERF_ORIGIN_Y = 0.0 [static]

Definition at line 658 of file test_distance_field.cpp.

const double PERF_ORIGIN_Z = 0.0 [static]

Definition at line 659 of file test_distance_field.cpp.

const double PERF_RESOLUTION = 0.02 [static]

Definition at line 656 of file test_distance_field.cpp.

const double PERF_WIDTH = 3.0 [static]

Definition at line 653 of file test_distance_field.cpp.

const double resolution = 0.1 [static]

Definition at line 53 of file test_distance_field.cpp.

const unsigned int UNIFORM_DISTANCE = 10 [static]

Definition at line 661 of file test_distance_field.cpp.

const double width = 1.0 [static]

Definition at line 50 of file test_distance_field.cpp.



moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Nov 26 2018 03:22:10