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 <geometric_shapes/body_operations.h>
#include <eigen_conversions/eigen_msg.h>
#include <octomap/octomap.h>
#include <ros/console.h>
#include <memory>
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

bool areDistanceFieldsDistancesEqual ( const PropagationDistanceField df1,
const PropagationDistanceField df2 
)

Definition at line 170 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 291 of file test_distance_field.cpp.

bool checkOctomapVersusDistanceField ( const PropagationDistanceField df,
const octomap::OcTree octree 
)

Definition at line 202 of file test_distance_field.cpp.

unsigned int countLeafNodes ( const octomap::OcTree octree)

Definition at line 276 of file test_distance_field.cpp.

unsigned int countOccupiedCells ( const PropagationDistanceField df)

Definition at line 257 of file test_distance_field.cpp.

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

Definition at line 67 of file test_distance_field.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 935 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 72 of file test_distance_field.cpp.

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

Definition at line 137 of file test_distance_field.cpp.

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

Definition at line 101 of file test_distance_field.cpp.

void printPointCoords ( const Eigen::Vector3i &  p)

Definition at line 117 of file test_distance_field.cpp.

TEST ( TestPropagationDistanceField  ,
TestAddRemovePoints   
)

Definition at line 332 of file test_distance_field.cpp.

TEST ( TestSignedPropagationDistanceField  ,
TestSignedAddRemovePoints   
)

Definition at line 434 of file test_distance_field.cpp.

TEST ( TestSignedPropagationDistanceField  ,
TestShape   
)

Definition at line 604 of file test_distance_field.cpp.

TEST ( TestSignedPropagationDistanceField  ,
TestPerformance   
)

Definition at line 664 of file test_distance_field.cpp.

TEST ( TestSignedPropagationDistanceField  ,
TestOcTree   
)

Definition at line 790 of file test_distance_field.cpp.

TEST ( TestSignedPropagationDistanceField  ,
TestReadWrite   
)

Definition at line 887 of file test_distance_field.cpp.

Variable Documentation

const double depth = 1.0
static

Definition at line 53 of file test_distance_field.cpp.

const double height = 1.0
static

Definition at line 52 of file test_distance_field.cpp.

const double max_dist = 0.3
static

Definition at line 58 of file test_distance_field.cpp.

const int max_dist_in_voxels = max_dist / resolution + 0.5
static

Definition at line 60 of file test_distance_field.cpp.

const int max_dist_sq_in_voxels = max_dist_in_voxels * max_dist_in_voxels
static

Definition at line 61 of file test_distance_field.cpp.

const double origin_x = 0.0
static

Definition at line 55 of file test_distance_field.cpp.

const double origin_y = 0.0
static

Definition at line 56 of file test_distance_field.cpp.

const double origin_z = 0.0
static

Definition at line 57 of file test_distance_field.cpp.

const double PERF_DEPTH = 4.0
static

Definition at line 656 of file test_distance_field.cpp.

const double PERF_HEIGHT = 3.0
static

Definition at line 655 of file test_distance_field.cpp.

const double PERF_MAX_DIST = .25
static

Definition at line 661 of file test_distance_field.cpp.

const double PERF_ORIGIN_X = 0.0
static

Definition at line 658 of file test_distance_field.cpp.

const double PERF_ORIGIN_Y = 0.0
static

Definition at line 659 of file test_distance_field.cpp.

const double PERF_ORIGIN_Z = 0.0
static

Definition at line 660 of file test_distance_field.cpp.

const double PERF_RESOLUTION = 0.02
static

Definition at line 657 of file test_distance_field.cpp.

const double PERF_WIDTH = 3.0
static

Definition at line 654 of file test_distance_field.cpp.

const double resolution = 0.1
static

Definition at line 54 of file test_distance_field.cpp.

const unsigned int UNIFORM_DISTANCE = 10
static

Definition at line 662 of file test_distance_field.cpp.

const double width = 1.0
static

Definition at line 51 of file test_distance_field.cpp.



moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Oct 18 2018 02:47:09