test_collision_common_panda.hpp File Reference

#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/collision_common.hpp>
#include <moveit/collision_detection/collision_env.hpp>
#include <moveit/collision_detection/collision_detector_allocator.hpp>
#include <urdf_parser/urdf_parser.h>
#include <geometric_shapes/shape_operations.h>
#include <gtest/gtest.h>
#include <sstream>
#include <algorithm>
#include <ctype.h>
#include <fstream>

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Classes
class	CollisionDetectorPandaTest< CollisionAllocatorType >
class	DistanceCheckPandaTest< CollisionAllocatorType >
class	DistanceFullPandaTest< CollisionAllocatorType >

Functions
void	setToHome (moveit::core::RobotState &panda_state)
	Brings the panda robot in user defined home position.
	TYPED_TEST_CASE_P (CollisionDetectorPandaTest)
	TYPED_TEST_P (CollisionDetectorPandaTest, InitOK)
	Correct setup testing.
	TYPED_TEST_P (CollisionDetectorPandaTest, DefaultNotInCollision)
	Tests the default values specified in the SRDF if they are collision free.
	TYPED_TEST_P (CollisionDetectorPandaTest, LinksInCollision)
	A configuration where the robot should collide with itself.
	TYPED_TEST_P (CollisionDetectorPandaTest, RobotWorldCollision_1)
	Adding obstacles to the world which are tested against the robot. Simple cases.
	TYPED_TEST_P (CollisionDetectorPandaTest, RobotWorldCollision_2)
	Adding obstacles to the world which are tested against the robot.
	TYPED_TEST_P (CollisionDetectorPandaTest, PaddingTest)
	Tests the padding through expanding the link geometry in such a way that a collision occurs.
	TYPED_TEST_P (CollisionDetectorPandaTest, DistanceSelf)
	Tests the distance reporting with the robot itself.
	TYPED_TEST_P (CollisionDetectorPandaTest, DistanceWorld)
	TYPED_TEST_CASE_P (DistanceCheckPandaTest)
	TYPED_TEST_P (DistanceCheckPandaTest, DistanceSingle)
	TYPED_TEST_CASE_P (DistanceFullPandaTest)
	TYPED_TEST_P (DistanceFullPandaTest, DistancePoints)
	Tests if nearest points are computed correctly.
	REGISTER_TYPED_TEST_SUITE_P (CollisionDetectorPandaTest, InitOK, DefaultNotInCollision, LinksInCollision, RobotWorldCollision_1, RobotWorldCollision_2, PaddingTest, DistanceSelf, DistanceWorld)
	REGISTER_TYPED_TEST_SUITE_P (DistanceCheckPandaTest, DistanceSingle)
	REGISTER_TYPED_TEST_SUITE_P (DistanceFullPandaTest, DistancePoints)

Function Documentation

REGISTER_TYPED_TEST_SUITE_P() [1/3]

REGISTER_TYPED_TEST_SUITE_P	(	CollisionDetectorPandaTest	,
		InitOK	,
		DefaultNotInCollision	,
		LinksInCollision	,
		RobotWorldCollision_1	,
		RobotWorldCollision_2	,
		PaddingTest	,
		DistanceSelf	,
		DistanceWorld
	)

REGISTER_TYPED_TEST_SUITE_P() [2/3]

REGISTER_TYPED_TEST_SUITE_P	(	DistanceCheckPandaTest	,
		DistanceSingle
	)

REGISTER_TYPED_TEST_SUITE_P() [3/3]

REGISTER_TYPED_TEST_SUITE_P	(	DistanceFullPandaTest	,
		DistancePoints
	)

setToHome()

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

inline

Brings the panda robot in user defined home position.

Definition at line 56 of file test_collision_common_panda.hpp.

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TYPED_TEST_CASE_P() [1/3]

TYPED_TEST_CASE_P

(

CollisionDetectorPandaTest

)

TYPED_TEST_CASE_P() [2/3]

TYPED_TEST_CASE_P

(

DistanceCheckPandaTest

)

TYPED_TEST_CASE_P() [3/3]

TYPED_TEST_CASE_P

(

DistanceFullPandaTest

)

TYPED_TEST_P() [1/10]

TYPED_TEST_P	(	CollisionDetectorPandaTest	,
		DefaultNotInCollision
	)

Tests the default values specified in the SRDF if they are collision free.

Definition at line 115 of file test_collision_common_panda.hpp.

TYPED_TEST_P() [2/10]

TYPED_TEST_P	(	CollisionDetectorPandaTest	,
		DistanceSelf
	)

Tests the distance reporting with the robot itself.

Definition at line 237 of file test_collision_common_panda.hpp.

TYPED_TEST_P() [3/10]

TYPED_TEST_P	(	CollisionDetectorPandaTest	,
		DistanceWorld
	)

Definition at line 247 of file test_collision_common_panda.hpp.

TYPED_TEST_P() [4/10]

TYPED_TEST_P	(	CollisionDetectorPandaTest	,
		InitOK
	)

Correct setup testing.

Definition at line 109 of file test_collision_common_panda.hpp.

TYPED_TEST_P() [5/10]

TYPED_TEST_P	(	CollisionDetectorPandaTest	,
		LinksInCollision
	)

A configuration where the robot should collide with itself.

Definition at line 124 of file test_collision_common_panda.hpp.

TYPED_TEST_P() [6/10]

TYPED_TEST_P	(	CollisionDetectorPandaTest	,
		PaddingTest
	)

Tests the padding through expanding the link geometry in such a way that a collision occurs.

Definition at line 205 of file test_collision_common_panda.hpp.

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TYPED_TEST_P() [7/10]

TYPED_TEST_P	(	CollisionDetectorPandaTest	,
		RobotWorldCollision_1
	)

Adding obstacles to the world which are tested against the robot. Simple cases.

Definition at line 140 of file test_collision_common_panda.hpp.

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TYPED_TEST_P() [8/10]

TYPED_TEST_P	(	CollisionDetectorPandaTest	,
		RobotWorldCollision_2
	)

Adding obstacles to the world which are tested against the robot.

Definition at line 183 of file test_collision_common_panda.hpp.

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TYPED_TEST_P() [9/10]

TYPED_TEST_P	(	DistanceCheckPandaTest	,
		DistanceSingle
	)

Definition at line 276 of file test_collision_common_panda.hpp.

TYPED_TEST_P() [10/10]

TYPED_TEST_P	(	DistanceFullPandaTest	,
		DistancePoints
	)

Tests if nearest points are computed correctly.

Definition at line 325 of file test_collision_common_panda.hpp.