Classes | Functions
test_collision_common_panda.h File Reference
#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>
Include dependency graph for test_collision_common_panda.h:
This graph shows which files directly or indirectly include this file:

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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)
 
 REGISTER_TYPED_TEST_CASE_P (DistanceCheckPandaTest, DistanceSingle)
 
 REGISTER_TYPED_TEST_CASE_P (DistanceFullPandaTest, DistancePoints)
 
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...
 

Function Documentation

◆ REGISTER_TYPED_TEST_CASE_P() [1/3]

REGISTER_TYPED_TEST_CASE_P ( CollisionDetectorPandaTest  ,
InitOK  ,
DefaultNotInCollision  ,
LinksInCollision  ,
RobotWorldCollision_1  ,
RobotWorldCollision_2  ,
PaddingTest  ,
DistanceSelf  ,
DistanceWorld   
)

◆ REGISTER_TYPED_TEST_CASE_P() [2/3]

REGISTER_TYPED_TEST_CASE_P ( DistanceCheckPandaTest  ,
DistanceSingle   
)

◆ REGISTER_TYPED_TEST_CASE_P() [3/3]

REGISTER_TYPED_TEST_CASE_P ( DistanceFullPandaTest  ,
DistancePoints   
)

◆ setToHome()

void setToHome ( moveit::core::RobotState panda_state)
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() [1/3]

TYPED_TEST_CASE_P ( CollisionDetectorPandaTest  )

◆ TYPED_TEST_CASE_P() [2/3]

TYPED_TEST_CASE_P ( DistanceCheckPandaTest  )

◆ TYPED_TEST_CASE_P() [3/3]

TYPED_TEST_CASE_P ( DistanceFullPandaTest  )

◆ TYPED_TEST_P() [1/10]

TYPED_TEST_P ( CollisionDetectorPandaTest  ,
DefaultNotInCollision   
)

Tests the default values specified in the SRDF if they are collision free.

Definition at line 121 of file test_collision_common_panda.h.

◆ TYPED_TEST_P() [2/10]

TYPED_TEST_P ( CollisionDetectorPandaTest  ,
DistanceSelf   
)

Tests the distance reporting with the robot itself.

Definition at line 230 of file test_collision_common_panda.h.

◆ TYPED_TEST_P() [3/10]

TYPED_TEST_P ( CollisionDetectorPandaTest  ,
DistanceWorld   
)

Definition at line 240 of file test_collision_common_panda.h.

◆ TYPED_TEST_P() [4/10]

TYPED_TEST_P ( CollisionDetectorPandaTest  ,
InitOK   
)

Correct setup testing.

Definition at line 115 of file test_collision_common_panda.h.

◆ TYPED_TEST_P() [5/10]

TYPED_TEST_P ( CollisionDetectorPandaTest  ,
LinksInCollision   
)

A configuration where the robot should collide with itself.

Definition at line 130 of file test_collision_common_panda.h.

◆ TYPED_TEST_P() [6/10]

TYPED_TEST_P ( CollisionDetectorPandaTest  ,
PaddingTest   
)

Tests the padding through expanding the link geometry in such a way that a collision occurs.

Definition at line 198 of file test_collision_common_panda.h.

◆ TYPED_TEST_P() [7/10]

TYPED_TEST_P ( CollisionDetectorPandaTest  ,
RobotWorldCollision_1   
)

Adding obstacles to the world which are tested against the robot. Simple cases.

Definition at line 146 of file test_collision_common_panda.h.

◆ TYPED_TEST_P() [8/10]

TYPED_TEST_P ( CollisionDetectorPandaTest  ,
RobotWorldCollision_2   
)

Adding obstacles to the world which are tested against the robot.

Definition at line 176 of file test_collision_common_panda.h.

◆ TYPED_TEST_P() [9/10]

TYPED_TEST_P ( DistanceCheckPandaTest  ,
DistanceSingle   
)

Definition at line 269 of file test_collision_common_panda.h.

◆ TYPED_TEST_P() [10/10]

TYPED_TEST_P ( DistanceFullPandaTest  ,
DistancePoints   
)

Tests if nearest points are computed correctly.

Definition at line 318 of file test_collision_common_panda.h.



moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Fri Sep 24 2021 02:23:42