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The MoveIt Motion Planning Framework for ROS 2.
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test_bullet_continuous_collision_checking.cpp File Reference
#include <gtest/gtest.h>
#include <rclcpp/rclcpp.hpp>
#include <moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h>
#include <moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h>
#include <moveit/collision_detection/collision_common.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/utils/robot_model_test_utils.h>
#include <moveit/collision_detection_bullet/collision_env_bullet.h>
#include <moveit/collision_detection_bullet/bullet_integration/basic_types.h>
#include <moveit/utils/logger.hpp>
#include <urdf_parser/urdf_parser.h>
#include <geometric_shapes/shape_operations.h>
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Classes

class  BulletCollisionDetectionTester
 

Functions

rclcpp::Logger getLogger ()
 
void setToHome (moveit::core::RobotState &panda_state)
 Brings the panda robot in user defined home position.
 
void addCollisionObjects (cb::BulletCastBVHManager &checker)
 
void addCollisionObjectsMesh (cb::BulletCastBVHManager &checker)
 
void runTest (cb::BulletCastBVHManager &checker, collision_detection::CollisionResult &result, std::vector< collision_detection::Contact > &result_vector, Eigen::Isometry3d &start_pos, Eigen::Isometry3d &end_pos)
 
 TEST_F (BulletCollisionDetectionTester, DISABLED_ContinuousCollisionSelf)
 Continuous self collision checks are not supported yet by the bullet integration.
 
 TEST_F (BulletCollisionDetectionTester, ContinuousCollisionWorld)
 Two similar robot poses are used as start and end pose of a continuous collision check.
 
 TEST (ContinuousCollisionUnit, BulletCastBVHCollisionBoxBoxUnit)
 
 TEST (ContinuousCollisionUnit, BulletCastMeshVsBox)
 
int main (int argc, char **argv)
 

Function Documentation

◆ addCollisionObjects()

void addCollisionObjects ( cb::BulletCastBVHManager checker)

Definition at line 110 of file test_bullet_continuous_collision_checking.cpp.

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◆ addCollisionObjectsMesh()

void addCollisionObjectsMesh ( cb::BulletCastBVHManager checker)

Definition at line 151 of file test_bullet_continuous_collision_checking.cpp.

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◆ getLogger()

rclcpp::Logger getLogger ( )

Definition at line 57 of file test_bullet_continuous_collision_checking.cpp.

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◆ main()

int main ( int  argc,
char **  argv 
)

◆ runTest()

void runTest ( cb::BulletCastBVHManager checker,
collision_detection::CollisionResult result,
std::vector< collision_detection::Contact > &  result_vector,
Eigen::Isometry3d &  start_pos,
Eigen::Isometry3d &  end_pos 
)

Definition at line 195 of file test_bullet_continuous_collision_checking.cpp.

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◆ setToHome()

void setToHome ( moveit::core::RobotState panda_state)
inline

Brings the panda robot in user defined home position.

Definition at line 63 of file test_bullet_continuous_collision_checking.cpp.

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◆ TEST() [1/2]

TEST ( ContinuousCollisionUnit  ,
BulletCastBVHCollisionBoxBoxUnit   
)

Definition at line 330 of file test_bullet_continuous_collision_checking.cpp.

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◆ TEST() [2/2]

TEST ( ContinuousCollisionUnit  ,
BulletCastMeshVsBox   
)

Definition at line 350 of file test_bullet_continuous_collision_checking.cpp.

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◆ TEST_F() [1/2]

TEST_F ( BulletCollisionDetectionTester  ,
ContinuousCollisionWorld   
)

Two similar robot poses are used as start and end pose of a continuous collision check.

Definition at line 267 of file test_bullet_continuous_collision_checking.cpp.

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◆ TEST_F() [2/2]

TEST_F ( BulletCollisionDetectionTester  ,
DISABLED_ContinuousCollisionSelf   
)

Continuous self collision checks are not supported yet by the bullet integration.

Definition at line 226 of file test_bullet_continuous_collision_checking.cpp.

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