#include <moveit/robot_model/robot_model.h>#include <moveit/robot_state/robot_state.h>#include <moveit/utils/robot_model_test_utils.h>#include <moveit/planning_scene/planning_scene.h>#include <gtest/gtest.h>#include <thread>#include <moveit/collision_detection/collision_common.h>#include <moveit/collision_detection/collision_plugin_cache.h>
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Classes | |
| class | CollisionDetectorTests |
Macros | |
| #define | INSTANTIATE_TEST_SUITE_P(...) INSTANTIATE_TEST_CASE_P(__VA_ARGS__) |
Functions | |
| bool | runCollisionDetection (unsigned int, unsigned int trials, const planning_scene::PlanningScene &scene, const moveit::core::RobotState &state) |
| void | runCollisionDetectionAssert (unsigned int id, unsigned int trials, const planning_scene::PlanningScene &scene, const moveit::core::RobotState &state, bool expected_result) |
| TEST_P (CollisionDetectorTests, Threaded) | |
| Tests the collision detector in multiple threads. More... | |
| INSTANTIATE_TEST_SUITE_P (PluginTests, CollisionDetectorTests, testing::Values("FCL", "Bullet")) | |
| int | main (int argc, char **argv) |
Variables | |
| const int | TRIALS = 1000 |
| const int | THREADS = 2 |
Macro Definition Documentation
◆ INSTANTIATE_TEST_SUITE_P
| #define INSTANTIATE_TEST_SUITE_P | ( | ... | ) | INSTANTIATE_TEST_CASE_P(__VA_ARGS__) |
Definition at line 143 of file test_multi_threaded.cpp.
Function Documentation
◆ INSTANTIATE_TEST_SUITE_P()
| INSTANTIATE_TEST_SUITE_P | ( | PluginTests | , |
| CollisionDetectorTests | , | ||
| testing::Values("FCL", "Bullet") | |||
| ) |
◆ main()
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 149 of file test_multi_threaded.cpp.
◆ runCollisionDetection()
| bool runCollisionDetection | ( | unsigned int | , |
| unsigned int | trials, | ||
| const planning_scene::PlanningScene & | scene, | ||
| const moveit::core::RobotState & | state | ||
| ) |
Definition at line 50 of file test_multi_threaded.cpp.
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◆ runCollisionDetectionAssert()
| void runCollisionDetectionAssert | ( | unsigned int | id, |
| unsigned int | trials, | ||
| const planning_scene::PlanningScene & | scene, | ||
| const moveit::core::RobotState & | state, | ||
| bool | expected_result | ||
| ) |
◆ TEST_P()
| TEST_P | ( | CollisionDetectorTests | , |
| Threaded | |||
| ) |
Tests the collision detector in multiple threads.
Definition at line 99 of file test_multi_threaded.cpp.
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Variable Documentation
◆ THREADS
| const int THREADS = 2 |
Definition at line 48 of file test_multi_threaded.cpp.
◆ TRIALS
| const int TRIALS = 1000 |
Definition at line 47 of file test_multi_threaded.cpp.
