moveit2
The MoveIt Motion Planning Framework for ROS 2.
Classes | Macros | Functions
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)
 
 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 539 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 545 of file test_planning_scene.cpp.

◆ TEST() [1/11]

TEST ( PlanningScene  ,
FailRetrievingNonExistentObject   
)

Definition at line 298 of file test_planning_scene.cpp.

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TEST ( PlanningScene  ,
isStateValid   
)

Definition at line 183 of file test_planning_scene.cpp.

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TEST ( PlanningScene  ,
loadBadSceneGeometry   
)

Definition at line 255 of file test_planning_scene.cpp.

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TEST ( PlanningScene  ,
loadGoodSceneGeometryNewFormat   
)

Definition at line 194 of file test_planning_scene.cpp.

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TEST ( PlanningScene  ,
loadGoodSceneGeometryOldFormat   
)

Definition at line 229 of file test_planning_scene.cpp.

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TEST ( PlanningScene  ,
LoadRestore   
)

Definition at line 78 of file test_planning_scene.cpp.

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TEST ( PlanningScene  ,
LoadRestoreDiff   
)

Definition at line 92 of file test_planning_scene.cpp.

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TEST ( PlanningScene  ,
MakeAttachedDiff   
)

Definition at line 152 of file test_planning_scene.cpp.

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TEST ( PlanningScene  ,
RobotStateDiffBug   
)

Definition at line 462 of file test_planning_scene.cpp.

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TEST ( PlanningScene  ,
switchCollisionDetectorType   
)

Definition at line 281 of file test_planning_scene.cpp.

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TEST ( PlanningScene  ,
TestOneShapeObjectPose   
)

Definition at line 52 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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