Classes | Defines | Functions
test_fcl_octomap.cpp File Reference
#include <boost/test/unit_test.hpp>
#include "fcl/octree.h"
#include "fcl/traversal/traversal_node_octree.h"
#include "fcl/broadphase/broadphase.h"
#include "fcl/shape/geometric_shape_to_BVH_model.h"
#include "fcl/math/transform.h"
#include "test_fcl_utility.h"
#include "fcl_resources/config.h"
#include <boost/filesystem.hpp>
Include dependency graph for test_fcl_octomap.cpp:

Go to the source code of this file.

Classes

struct  TStruct

Defines

#define BOOST_TEST_MODULE   "FCL_OCTOMAP"

Functions

 BOOST_AUTO_TEST_CASE (test_octomap_cost)
 BOOST_AUTO_TEST_CASE (test_octomap_cost_mesh)
 BOOST_AUTO_TEST_CASE (test_octomap_collision)
 BOOST_AUTO_TEST_CASE (test_octomap_collision_mesh)
 BOOST_AUTO_TEST_CASE (test_octomap_collision_mesh_octomap_box)
 BOOST_AUTO_TEST_CASE (test_octomap_distance)
 BOOST_AUTO_TEST_CASE (test_octomap_distance_mesh)
 BOOST_AUTO_TEST_CASE (test_octomap_distance_mesh_octomap_box)
 BOOST_AUTO_TEST_CASE (test_octomap_bvh_obb_collision_obb)
 BOOST_AUTO_TEST_CASE (test_octomap_bvh_rss_d_distance_rss)
 BOOST_AUTO_TEST_CASE (test_octomap_bvh_obb_d_distance_obb)
 BOOST_AUTO_TEST_CASE (test_octomap_bvh_kios_d_distance_kios)
void generateBoxesFromOctomap (std::vector< CollisionObject * > &env, OcTree &tree)
 Generate boxes from the octomap.
void generateBoxesFromOctomapMesh (std::vector< CollisionObject * > &env, OcTree &tree)
 Generate boxes from the octomap.
void generateEnvironments (std::vector< CollisionObject * > &env, double env_scale, std::size_t n)
 Generate environment with 3 * n objects: n spheres, n boxes and n cylinders.
void generateEnvironmentsMesh (std::vector< CollisionObject * > &env, double env_scale, std::size_t n)
 Generate environment with 3 * n objects: n spheres, n boxes and n cylinders, all in mesh.
octomap::OcTree * generateOcTree ()
 Generate an octree.
void octomap_collision_test (double env_scale, std::size_t env_size, bool exhaustive, std::size_t num_max_contacts, bool use_mesh, bool use_mesh_octomap)
 Octomap collision with an environment with 3 * env_size objects.
template<typename BV >
void octomap_collision_test_BVH (std::size_t n, bool exhaustive)
void octomap_cost_test (double env_scale, std::size_t env_size, std::size_t num_max_cost_sources, bool use_mesh, bool use_mesh_octomap)
 Octomap collision with an environment with 3 * env_size objects, compute cost.
void octomap_distance_test (double env_scale, std::size_t env_size, bool use_mesh, bool use_mesh_octomap)
 Octomap distance with an environment with 3 * env_size objects.
template<typename BV >
void octomap_distance_test_BVH (std::size_t n)

Define Documentation

#define BOOST_TEST_MODULE   "FCL_OCTOMAP"
Author:
Jia Pan

Definition at line 37 of file test_fcl_octomap.cpp.


Function Documentation

BOOST_AUTO_TEST_CASE ( test_octomap_cost  )

Definition at line 98 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE ( test_octomap_cost_mesh  )

Definition at line 104 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE ( test_octomap_collision  )

Definition at line 110 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE ( test_octomap_collision_mesh  )

Definition at line 118 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE ( test_octomap_collision_mesh_octomap_box  )

Definition at line 126 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE ( test_octomap_distance  )

Definition at line 134 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE ( test_octomap_distance_mesh  )

Definition at line 140 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE ( test_octomap_distance_mesh_octomap_box  )

Definition at line 146 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE ( test_octomap_bvh_obb_collision_obb  )

Definition at line 153 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE ( test_octomap_bvh_rss_d_distance_rss  )

Definition at line 159 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE ( test_octomap_bvh_obb_d_distance_obb  )

Definition at line 164 of file test_fcl_octomap.cpp.

BOOST_AUTO_TEST_CASE ( test_octomap_bvh_kios_d_distance_kios  )

Definition at line 169 of file test_fcl_octomap.cpp.

void generateBoxesFromOctomap ( std::vector< CollisionObject * > &  env,
OcTree tree 
)

Generate boxes from the octomap.

Definition at line 603 of file test_fcl_octomap.cpp.

void generateBoxesFromOctomapMesh ( std::vector< CollisionObject * > &  env,
OcTree tree 
)

Generate boxes from the octomap.

Definition at line 656 of file test_fcl_octomap.cpp.

void generateEnvironments ( std::vector< CollisionObject * > &  env,
double  env_scale,
std::size_t  n 
)

Generate environment with 3 * n objects: n spheres, n boxes and n cylinders.

void generateEnvironmentsMesh ( std::vector< CollisionObject * > &  env,
double  env_scale,
std::size_t  n 
)

Generate environment with 3 * n objects: n spheres, n boxes and n cylinders, all in mesh.

octomap::OcTree * generateOcTree ( )

Generate an octree.

Definition at line 715 of file test_fcl_octomap.cpp.

void octomap_collision_test ( double  env_scale,
std::size_t  env_size,
bool  exhaustive,
std::size_t  num_max_contacts,
bool  use_mesh,
bool  use_mesh_octomap 
)

Octomap collision with an environment with 3 * env_size objects.

Definition at line 416 of file test_fcl_octomap.cpp.

template<typename BV >
void octomap_collision_test_BVH ( std::size_t  n,
bool  exhaustive 
)

Definition at line 175 of file test_fcl_octomap.cpp.

void octomap_cost_test ( double  env_scale,
std::size_t  env_size,
std::size_t  num_max_cost_sources,
bool  use_mesh,
bool  use_mesh_octomap 
)

Octomap collision with an environment with 3 * env_size objects, compute cost.

Definition at line 297 of file test_fcl_octomap.cpp.

void octomap_distance_test ( double  env_scale,
std::size_t  env_size,
bool  use_mesh,
bool  use_mesh_octomap 
)

Octomap distance with an environment with 3 * env_size objects.

Definition at line 515 of file test_fcl_octomap.cpp.

template<typename BV >
void octomap_distance_test_BVH ( std::size_t  n)

Definition at line 241 of file test_fcl_octomap.cpp.

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fcl
Author(s): Jia Pan
autogenerated on Tue Jan 15 2013 16:05:31