test_fcl_env.cpp File Reference

#include <gtest/gtest.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/utils/logger.hpp>
#include <moveit/collision_detection_fcl/collision_common.h>
#include <moveit/collision_detection_fcl/collision_env_fcl.h>
#include <urdf_parser/urdf_parser.h>
#include <geometric_shapes/shape_operations.h>

Include dependency graph for test_fcl_env.cpp:

Go to the source code of this file.

Classes
class	CollisionDetectionEnvTest

Functions
void	setToHome (moveit::core::RobotState &panda_state)
	Brings the panda robot in user defined home position.
rclcpp::Logger	getLogger ()
	TEST_F (CollisionDetectionEnvTest, InitOK)
	Correct setup testing.
	TEST_F (CollisionDetectionEnvTest, DefaultNotInCollision)
	Tests the default values specified in the SRDF if they are collision free.
	TEST_F (CollisionDetectionEnvTest, LinksInCollision)
	A configuration where the robot should collide with itself.
	TEST_F (CollisionDetectionEnvTest, RobotWorldCollision_1)
	Adding obstacles to the world which are tested against the robot. Simple cases.
	TEST_F (CollisionDetectionEnvTest, RobotWorldCollision_2)
	Adding obstacles to the world which are tested against the robot.
	TEST_F (CollisionDetectionEnvTest, PaddingTest)
	Tests the padding through expanding the link geometry in such a way that a collision occurs.
	TEST_F (CollisionDetectionEnvTest, DISABLED_ContinuousCollisionSelf)
	Continuous self collision checks of the robot.
	TEST_F (CollisionDetectionEnvTest, DISABLED_ContinuousCollisionWorld)
	Two similar robot poses are used as start and end pose of a continuous collision check.
int	main (int argc, char **argv)

Function Documentation

getLogger()

rclcpp::Logger getLogger

(

)

Definition at line 67 of file test_fcl_env.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 325 of file test_fcl_env.cpp.

setToHome()

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

inline

Brings the panda robot in user defined home position.

Definition at line 53 of file test_fcl_env.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

TEST_F() [1/8]

TEST_F	(	CollisionDetectionEnvTest	,
		DefaultNotInCollision
	)

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

Definition at line 126 of file test_fcl_env.cpp.

TEST_F() [2/8]

TEST_F	(	CollisionDetectionEnvTest	,
		DISABLED_ContinuousCollisionSelf
	)

Continuous self collision checks of the robot.

Functionality not supported yet.

Definition at line 233 of file test_fcl_env.cpp.

Here is the call graph for this function:

TEST_F() [3/8]

TEST_F	(	CollisionDetectionEnvTest	,
		DISABLED_ContinuousCollisionWorld
	)

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

Functionality not supported yet.

Definition at line 277 of file test_fcl_env.cpp.

Here is the call graph for this function:

TEST_F() [4/8]

TEST_F	(	CollisionDetectionEnvTest	,
		InitOK
	)

Correct setup testing.

Definition at line 120 of file test_fcl_env.cpp.

TEST_F() [5/8]

TEST_F	(	CollisionDetectionEnvTest	,
		LinksInCollision
	)

A configuration where the robot should collide with itself.

Definition at line 135 of file test_fcl_env.cpp.

TEST_F() [6/8]

TEST_F	(	CollisionDetectionEnvTest	,
		PaddingTest
	)

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

Definition at line 199 of file test_fcl_env.cpp.

Here is the call graph for this function:

TEST_F() [7/8]

TEST_F	(	CollisionDetectionEnvTest	,
		RobotWorldCollision_1
	)

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

Definition at line 148 of file test_fcl_env.cpp.

Here is the call graph for this function:

TEST_F() [8/8]

TEST_F	(	CollisionDetectionEnvTest	,
		RobotWorldCollision_2
	)

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

Definition at line 178 of file test_fcl_env.cpp.

Here is the call graph for this function: