#include <gtest/gtest.h>
#include <rclcpp/rclcpp.hpp>
#include <moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.hpp>
#include <moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.hpp>
#include <moveit/collision_detection/collision_common.hpp>
#include <moveit/robot_model/robot_model.hpp>
#include <moveit/robot_state/robot_state.hpp>
#include <moveit/utils/robot_model_test_utils.hpp>
#include <moveit/collision_detection_bullet/collision_env_bullet.hpp>
#include <moveit/collision_detection_bullet/bullet_integration/basic_types.hpp>
#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
	)

Definition at line 369 of file test_bullet_continuous_collision_checking.cpp.

◆ 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
	)