moveit2
The MoveIt Motion Planning Framework for ROS 2.
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test_fcl_collision_detection_panda.cpp
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34
35/* Author: Jens Petit */
36
39
42
43// FCL < 0.6 incorrectly reports distance results in the object coordinate frame.
44// See: https://github.com/flexible-collision-library/fcl/issues/171
45// and https://github.com/flexible-collision-library/fcl/pull/288.
46// So only execute the full distance test suite on FCL >= 0.6.
47#if MOVEIT_FCL_VERSION >= FCL_VERSION_CHECK(0, 6, 0)
50#ifdef GTEST_ALLOW_UNINSTANTIATED_PARAMETERIZED_TEST
51GTEST_ALLOW_UNINSTANTIATED_PARAMETERIZED_TEST(DistanceCheckPandaTest);
52#endif
53#else
56#ifdef GTEST_ALLOW_UNINSTANTIATED_PARAMETERIZED_TEST
57GTEST_ALLOW_UNINSTANTIATED_PARAMETERIZED_TEST(DistanceFullPandaTest);
58#endif
59#endif
60
61int main(int argc, char* argv[])
62{
63 testing::InitGoogleTest(&argc, argv);
64 return RUN_ALL_TESTS();
65}
int main(int argc, char *argv[])
INSTANTIATE_TYPED_TEST_SUITE_P(FCLCollisionCheckPanda, CollisionDetectorPandaTest, collision_detection::CollisionDetectorAllocatorFCL)