test_planning_scene.cpp File Reference

#include <gtest/gtest.h>
#include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/utils/message_checks.h>
#include <moveit/utils/robot_model_test_utils.h>
#include <urdf_parser/urdf_parser.h>
#include <fstream>
#include <sstream>
#include <string>
#include <tf2_eigen/tf2_eigen.hpp>
#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
	TEST (PlanningScene, TestOneShapeObjectPose)
	TEST (PlanningScene, LoadRestore)
	TEST (PlanningScene, LoadRestoreDiff)
	TEST (PlanningScene, MakeAttachedDiff)
	TEST (PlanningScene, isStateValid)
	TEST (PlanningScene, loadGoodSceneGeometryNewFormat)
	TEST (PlanningScene, loadGoodSceneGeometryOldFormat)
	TEST (PlanningScene, loadBadSceneGeometry)
	TEST (PlanningScene, switchCollisionDetectorType)
	TEST (PlanningScene, FailRetrievingNonExistentObject)
	TEST_P (CollisionDetectorTests, ClearDiff)
moveit_msgs::msg::PlanningScene	create_planning_scene_diff (const planning_scene::PlanningScene &ps, const std::string &object_name, const int8_t operation, const bool attach_object=false, const bool create_object=true)
std::set< std::string >	get_collision_objects_names (const planning_scene::PlanningScene &ps)
std::set< std::string >	get_attached_collision_objects_names (const planning_scene::PlanningScene &ps)
	TEST (PlanningScene, RobotStateDiffBug)
	TEST (PlanningScene, UpdateACMAfterObjectRemoval)
	INSTANTIATE_TEST_SUITE_P (PluginTests, CollisionDetectorTests, testing::Values("FCL", "Bullet"))
int	main (int argc, char **argv)

Macro Definition Documentation

INSTANTIATE_TEST_SUITE_P

#define INSTANTIATE_TEST_SUITE_P

(

...

)

INSTANTIATE_TEST_CASE_P(__VA_ARGS__)

Definition at line 613 of file test_planning_scene.cpp.

Function Documentation

create_planning_scene_diff()

moveit_msgs::msg::PlanningScene create_planning_scene_diff	(	const planning_scene::PlanningScene &	ps,
		const std::string &	object_name,
		const int8_t	operation,
		const bool	attach_object = false,
		const bool	create_object = true
	)

Definition at line 395 of file test_planning_scene.cpp.

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get_attached_collision_objects_names()

std::set<std::string> get_attached_collision_objects_names

(

const planning_scene::PlanningScene &

ps

)

Definition at line 452 of file test_planning_scene.cpp.

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get_collision_objects_names()

std::set<std::string> get_collision_objects_names

(

const planning_scene::PlanningScene &

ps

)

Definition at line 441 of file test_planning_scene.cpp.

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INSTANTIATE_TEST_SUITE_P()

INSTANTIATE_TEST_SUITE_P	(	PluginTests	,
		CollisionDetectorTests	,
		testing::Values("FCL", "Bullet")
	)

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 619 of file test_planning_scene.cpp.

TEST() [1/12]

TEST	(	PlanningScene	,
		FailRetrievingNonExistentObject
	)

Definition at line 298 of file test_planning_scene.cpp.

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TEST() [2/12]

TEST	(	PlanningScene	,
		isStateValid
	)

Definition at line 183 of file test_planning_scene.cpp.

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TEST() [3/12]

TEST	(	PlanningScene	,
		loadBadSceneGeometry
	)

Definition at line 255 of file test_planning_scene.cpp.

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TEST() [4/12]

TEST	(	PlanningScene	,
		loadGoodSceneGeometryNewFormat
	)

Definition at line 194 of file test_planning_scene.cpp.

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TEST() [5/12]

TEST	(	PlanningScene	,
		loadGoodSceneGeometryOldFormat
	)

Definition at line 229 of file test_planning_scene.cpp.

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TEST() [6/12]

TEST	(	PlanningScene	,
		LoadRestore
	)

Definition at line 78 of file test_planning_scene.cpp.

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TEST() [7/12]

TEST	(	PlanningScene	,
		LoadRestoreDiff
	)

Definition at line 92 of file test_planning_scene.cpp.

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TEST() [8/12]

TEST	(	PlanningScene	,
		MakeAttachedDiff
	)

Definition at line 152 of file test_planning_scene.cpp.

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TEST() [9/12]

TEST	(	PlanningScene	,
		RobotStateDiffBug
	)

Definition at line 462 of file test_planning_scene.cpp.

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TEST() [10/12]

TEST	(	PlanningScene	,
		switchCollisionDetectorType
	)

Definition at line 281 of file test_planning_scene.cpp.

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TEST() [11/12]

TEST	(	PlanningScene	,
		TestOneShapeObjectPose
	)

Definition at line 52 of file test_planning_scene.cpp.

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TEST() [12/12]

TEST	(	PlanningScene	,
		UpdateACMAfterObjectRemoval
	)

Definition at line 538 of file test_planning_scene.cpp.

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TEST_P()

TEST_P	(	CollisionDetectorTests	,
		ClearDiff
	)

Definition at line 309 of file test_planning_scene.cpp.

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