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 <tf2_eigen/tf2_eigen.hpp>
#include <octomap/octomap.h>
#include <memory>

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Functions
int	dist_sq (int x, int y, int z)
void	print (PropagationDistanceField &pdf, int numX, int numY, int numZ)
void	printNeg (PropagationDistanceField &pdf, int numX, int numY, int numZ)
void	printPointCoords (const Eigen::Vector3i &p)
void	printBoth (PropagationDistanceField &pdf, int numX, int numY, int numZ)
bool	areDistanceFieldsDistancesEqual (const PropagationDistanceField &df1, const PropagationDistanceField &df2)
bool	checkOctomapVersusDistanceField (const PropagationDistanceField &df, const octomap::OcTree &octree)
unsigned int	countOccupiedCells (const PropagationDistanceField &df)
unsigned int	countLeafNodes (const octomap::OcTree &octree)
void	check_distance_field (const PropagationDistanceField &df, const EigenSTL::vector_Vector3d &points, int numX, int numY, int numZ, bool do_negs)
	TEST (TestPropagationDistanceField, TestAddRemovePoints)
	TEST (TestSignedPropagationDistanceField, TestSignedAddRemovePoints)
	TEST (TestSignedPropagationDistanceField, TestShape)
	TEST (TestSignedPropagationDistanceField, TestPerformance)
	TEST (TestSignedPropagationDistanceField, TestOcTree)
	TEST (TestSignedPropagationDistanceField, TestReadWrite)
int	main (int argc, char **argv)

Function Documentation

areDistanceFieldsDistancesEqual()

bool areDistanceFieldsDistancesEqual	(	const PropagationDistanceField &	df1,
		const PropagationDistanceField &	df2
	)

Definition at line 165 of file test_distance_field.cpp.

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check_distance_field()

void check_distance_field	(	const PropagationDistanceField &	df,
		const EigenSTL::vector_Vector3d &	points,
		int	numX,
		int	numY,
		int	numZ,
		bool	do_negs
	)

Definition at line 286 of file test_distance_field.cpp.

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checkOctomapVersusDistanceField()

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

Definition at line 197 of file test_distance_field.cpp.

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countLeafNodes()

unsigned int countLeafNodes

(

const octomap::OcTree &

octree

)

Definition at line 271 of file test_distance_field.cpp.

countOccupiedCells()

unsigned int countOccupiedCells

(

const PropagationDistanceField &

df

)

Definition at line 252 of file test_distance_field.cpp.

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dist_sq()

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

Definition at line 62 of file test_distance_field.cpp.

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 976 of file test_distance_field.cpp.

print()

void print	(	PropagationDistanceField &	pdf,
		int	numX,
		int	numY,
		int	numZ
	)

Definition at line 67 of file test_distance_field.cpp.

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printBoth()

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

Definition at line 132 of file test_distance_field.cpp.

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printNeg()

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

Definition at line 96 of file test_distance_field.cpp.

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printPointCoords()

void printPointCoords

(

const Eigen::Vector3i &

p

)

Definition at line 112 of file test_distance_field.cpp.

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TEST() [1/6]

TEST	(	TestPropagationDistanceField	,
		TestAddRemovePoints
	)

Definition at line 327 of file test_distance_field.cpp.

TEST() [2/6]

TEST	(	TestSignedPropagationDistanceField	,
		TestOcTree
	)

Definition at line 831 of file test_distance_field.cpp.

TEST() [3/6]

TEST	(	TestSignedPropagationDistanceField	,
		TestPerformance
	)

Definition at line 658 of file test_distance_field.cpp.

TEST() [4/6]

TEST	(	TestSignedPropagationDistanceField	,
		TestReadWrite
	)

Definition at line 928 of file test_distance_field.cpp.

TEST() [5/6]

TEST	(	TestSignedPropagationDistanceField	,
		TestShape
	)

Definition at line 598 of file test_distance_field.cpp.

TEST() [6/6]

TEST	(	TestSignedPropagationDistanceField	,
		TestSignedAddRemovePoints
	)

Definition at line 429 of file test_distance_field.cpp.