#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/utils/robot_model_test_utils.h>
#include <moveit/collision_detection/collision_common.h>
#include <moveit/collision_detection/collision_env.h>
#include <moveit/collision_detection/collision_detector_allocator.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>
Go to the source code of this file.
Classes | |
class | CollisionDetectorPandaTest< CollisionAllocatorType > |
class | DistanceCheckPandaTest< CollisionAllocatorType > |
class | DistanceFullPandaTest< CollisionAllocatorType > |
Functions | |
REGISTER_TYPED_TEST_CASE_P (CollisionDetectorPandaTest, InitOK, DefaultNotInCollision, LinksInCollision, RobotWorldCollision_1, RobotWorldCollision_2, PaddingTest, DistanceSelf, DistanceWorld) | |
void | setToHome (moveit::core::RobotState &panda_state) |
Brings the panda robot in user defined home position. More... | |
TYPED_TEST_CASE_P (CollisionDetectorPandaTest) | |
TYPED_TEST_CASE_P (DistanceCheckPandaTest) | |
TYPED_TEST_CASE_P (DistanceFullPandaTest) | |
TYPED_TEST_P (CollisionDetectorPandaTest, DefaultNotInCollision) | |
Tests the default values specified in the SRDF if they are collision free. More... | |
TYPED_TEST_P (CollisionDetectorPandaTest, DistanceSelf) | |
Tests the distance reporting with the robot itself. More... | |
TYPED_TEST_P (CollisionDetectorPandaTest, DistanceWorld) | |
TYPED_TEST_P (CollisionDetectorPandaTest, InitOK) | |
Correct setup testing. More... | |
TYPED_TEST_P (CollisionDetectorPandaTest, LinksInCollision) | |
A configuration where the robot should collide with itself. More... | |
TYPED_TEST_P (CollisionDetectorPandaTest, PaddingTest) | |
Tests the padding through expanding the link geometry in such a way that a collision occurs. More... | |
TYPED_TEST_P (CollisionDetectorPandaTest, RobotWorldCollision_1) | |
Adding obstacles to the world which are tested against the robot. Simple cases. More... | |
TYPED_TEST_P (CollisionDetectorPandaTest, RobotWorldCollision_2) | |
Adding obstacles to the world which are tested against the robot. More... | |
TYPED_TEST_P (DistanceCheckPandaTest, DistanceSingle) | |
TYPED_TEST_P (DistanceFullPandaTest, DistancePoints) | |
Tests if nearest points are computed correctly. More... | |
REGISTER_TYPED_TEST_CASE_P | ( | CollisionDetectorPandaTest | , |
InitOK | , | ||
DefaultNotInCollision | , | ||
LinksInCollision | , | ||
RobotWorldCollision_1 | , | ||
RobotWorldCollision_2 | , | ||
PaddingTest | , | ||
DistanceSelf | , | ||
DistanceWorld | |||
) |
|
inline |
Brings the panda robot in user defined home position.
Definition at line 54 of file test_collision_common_panda.h.
TYPED_TEST_CASE_P | ( | CollisionDetectorPandaTest | ) |
TYPED_TEST_CASE_P | ( | DistanceCheckPandaTest | ) |
TYPED_TEST_CASE_P | ( | DistanceFullPandaTest | ) |
TYPED_TEST_P | ( | CollisionDetectorPandaTest | , |
DefaultNotInCollision | |||
) |
Tests the default values specified in the SRDF if they are collision free.
Definition at line 113 of file test_collision_common_panda.h.
TYPED_TEST_P | ( | CollisionDetectorPandaTest | , |
DistanceSelf | |||
) |
Tests the distance reporting with the robot itself.
Definition at line 235 of file test_collision_common_panda.h.
TYPED_TEST_P | ( | CollisionDetectorPandaTest | , |
DistanceWorld | |||
) |
Definition at line 245 of file test_collision_common_panda.h.
TYPED_TEST_P | ( | CollisionDetectorPandaTest | , |
InitOK | |||
) |
Correct setup testing.
Definition at line 107 of file test_collision_common_panda.h.
TYPED_TEST_P | ( | CollisionDetectorPandaTest | , |
LinksInCollision | |||
) |
A configuration where the robot should collide with itself.
Definition at line 122 of file test_collision_common_panda.h.
TYPED_TEST_P | ( | CollisionDetectorPandaTest | , |
PaddingTest | |||
) |
Tests the padding through expanding the link geometry in such a way that a collision occurs.
Definition at line 203 of file test_collision_common_panda.h.
TYPED_TEST_P | ( | CollisionDetectorPandaTest | , |
RobotWorldCollision_1 | |||
) |
Adding obstacles to the world which are tested against the robot. Simple cases.
Definition at line 138 of file test_collision_common_panda.h.
TYPED_TEST_P | ( | CollisionDetectorPandaTest | , |
RobotWorldCollision_2 | |||
) |
Adding obstacles to the world which are tested against the robot.
Definition at line 181 of file test_collision_common_panda.h.
TYPED_TEST_P | ( | DistanceCheckPandaTest | , |
DistanceSingle | |||
) |
Definition at line 274 of file test_collision_common_panda.h.
TYPED_TEST_P | ( | DistanceFullPandaTest | , |
DistancePoints | |||
) |
Tests if nearest points are computed correctly.
Definition at line 323 of file test_collision_common_panda.h.