contact_managers_factory_static_unit.cpp

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#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <gtest/gtest.h>
#include <fstream>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_collision/core/contact_managers_plugin_factory.h>
#include <tesseract_collision/core/discrete_contact_manager.h>
#include <tesseract_collision/bullet/bullet_factories.h>
#include <tesseract_common/yaml_utils.h>
#include <tesseract_common/resource_locator.h>
#include <boost_plugin_loader/utils.h>
 
using namespace tesseract_collision;
 
TEST(TesseractContactManagersFactoryUnit, StaticLoadPlugin)  // NOLINT
{
  boost_plugin_loader::addSymbolLibraryToSearchLibrariesEnv(
      tesseract_collision::tesseract_collision_bullet::BulletFactoriesAnchor(), "TESSERACT_CONTACT_MANAGERS_PLUGINS");
 
  std::string config = R"(contact_manager_plugins:
                            search_paths:
                              - /usr/local/lib
                            search_libraries:
                              - tesseract_collision_bullet_factories_not_there
                              - tesseract_collision_fcl_factories_not_there
                            discrete_plugins:
                              default: BulletDiscreteBVHManager
                              plugins:
                                BulletDiscreteBVHManager:
                                  class: BulletDiscreteBVHManagerFactory
                                BulletDiscreteSimpleManager:
                                  class: BulletDiscreteSimpleManagerFactory
                                FCLDiscreteBVHManager:
                                  class: FCLDiscreteBVHManagerFactory
                            continuous_plugins:
                              default: BulletCastBVHManager
                              plugins:
                                BulletCastBVHManager:
                                  class: BulletCastBVHManagerFactory
                                BulletCastSimpleManager:
                                  class: BulletCastSimpleManagerFactory)";
 
  tesseract_common::GeneralResourceLocator locator;
  ContactManagersPluginFactory factory(config, locator);
  factory.clearSearchLibraries();
  factory.clearSearchPaths();
  YAML::Node plugin_config = tesseract_common::loadYamlString(config, locator);
 
  DiscreteContactManager::UPtr cm = factory.createDiscreteContactManager("BulletDiscreteBVHManager");
  EXPECT_TRUE(cm != nullptr);
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
 
  return RUN_ALL_TESTS();
}