test_planning_scene.cpp File Reference

#include <cstdint>
#include <gtest/gtest.h>
#include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.hpp>
#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit/utils/message_checks.hpp>
#include <moveit/utils/robot_model_test_utils.hpp>
#include <urdf_parser/urdf_parser.h>
#include <fstream>
#include <sstream>
#include <string>
#include <tf2_eigen/tf2_eigen.hpp>
#include <octomap_msgs/conversions.h>
#include <octomap/octomap.h>
#include <moveit/collision_detection/collision_common.hpp>
#include <moveit/collision_detection/collision_plugin_cache.hpp>

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Classes
class	CollisionDetectorTests

Macros
#define	INSTANTIATE_TEST_SUITE_P(...)

Functions
	TEST (PlanningScene, TestOneShapeObjectPose)
	TEST (PlanningScene, LoadRestore)
	TEST (PlanningScene, LoadOctomap)
	TEST (PlanningScene, LoadRestoreDiff)
	TEST (PlanningScene, MakeAttachedDiff)
	TEST (PlanningScene, isStateValid)
	TEST (PlanningScene, loadGoodSceneGeometryNewFormat)
	TEST (PlanningScene, loadGoodSceneGeometryOldFormat)
	TEST (PlanningScene, loadBadSceneGeometry)
	TEST (PlanningScene, switchCollisionDetectorType)
	TEST (PlanningScene, FailRetrievingNonExistentObject)
	TEST_P (CollisionDetectorTests, ClearDiff)
moveit_msgs::msg::PlanningScene	createPlanningSceneDiff (const planning_scene::PlanningScene &ps, const std::string &object_name, const int8_t operation, const bool attach_object=false, const bool create_object=true)
std::set< std::string >	getCollisionObjectsNames (const planning_scene::PlanningScene &ps)
std::set< std::string >	getAttachedCollisionObjectsNames (const planning_scene::PlanningScene &ps)
	TEST (PlanningScene, RobotStateDiffBug)
	TEST (PlanningScene, UpdateACMAfterObjectRemoval)
	INSTANTIATE_TEST_SUITE_P (PluginTests, CollisionDetectorTests, testing::Values("FCL", "Bullet"))
int	main (int argc, char **argv)

Macro Definition Documentation

INSTANTIATE_TEST_SUITE_P

#define INSTANTIATE_TEST_SUITE_P

(

...

)

Value:

INSTANTIATE_TEST_CASE_P(__VA_ARGS__)

Definition at line 669 of file test_planning_scene.cpp.

Function Documentation

createPlanningSceneDiff()

moveit_msgs::msg::PlanningScene createPlanningSceneDiff	(	const planning_scene::PlanningScene &	ps,
		const std::string &	object_name,
		const int8_t	operation,
		const bool	attach_object = false,
		const bool	create_object = true )

Definition at line 451 of file test_planning_scene.cpp.

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getAttachedCollisionObjectsNames()

std::set< std::string > getAttachedCollisionObjectsNames

(

const planning_scene::PlanningScene &

ps

)

Definition at line 508 of file test_planning_scene.cpp.

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getCollisionObjectsNames()

std::set< std::string > getCollisionObjectsNames

(

const planning_scene::PlanningScene &

ps

)

Definition at line 497 of file test_planning_scene.cpp.

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INSTANTIATE_TEST_SUITE_P()

INSTANTIATE_TEST_SUITE_P	(	PluginTests	,
		CollisionDetectorTests	,
		testing::Values("FCL", "Bullet")	)

main()

int main	(	int	argc,
		char **	argv )

Definition at line 675 of file test_planning_scene.cpp.

TEST() [1/13]

TEST	(	PlanningScene	,
		FailRetrievingNonExistentObject	)

Definition at line 354 of file test_planning_scene.cpp.

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TEST() [2/13]

TEST	(	PlanningScene	,
		isStateValid	)

Definition at line 239 of file test_planning_scene.cpp.

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TEST() [3/13]

TEST	(	PlanningScene	,
		loadBadSceneGeometry	)

Definition at line 311 of file test_planning_scene.cpp.

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TEST() [4/13]

TEST	(	PlanningScene	,
		loadGoodSceneGeometryNewFormat	)

Definition at line 250 of file test_planning_scene.cpp.

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TEST() [5/13]

TEST	(	PlanningScene	,
		loadGoodSceneGeometryOldFormat	)

Definition at line 285 of file test_planning_scene.cpp.

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TEST() [6/13]

TEST	(	PlanningScene	,
		LoadOctomap	)

Definition at line 95 of file test_planning_scene.cpp.

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TEST() [7/13]

TEST	(	PlanningScene	,
		LoadRestore	)

Definition at line 81 of file test_planning_scene.cpp.

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TEST() [8/13]

TEST	(	PlanningScene	,
		LoadRestoreDiff	)

Definition at line 148 of file test_planning_scene.cpp.

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TEST() [9/13]

TEST	(	PlanningScene	,
		MakeAttachedDiff	)

Definition at line 208 of file test_planning_scene.cpp.

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TEST() [10/13]

TEST	(	PlanningScene	,
		RobotStateDiffBug	)

Definition at line 518 of file test_planning_scene.cpp.

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TEST() [11/13]

TEST	(	PlanningScene	,
		switchCollisionDetectorType	)

Definition at line 337 of file test_planning_scene.cpp.

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TEST() [12/13]

TEST	(	PlanningScene	,
		TestOneShapeObjectPose	)

Definition at line 55 of file test_planning_scene.cpp.

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TEST() [13/13]

TEST	(	PlanningScene	,
		UpdateACMAfterObjectRemoval	)

Definition at line 594 of file test_planning_scene.cpp.

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TEST_P()

TEST_P	(	CollisionDetectorTests	,
		ClearDiff	)

Definition at line 365 of file test_planning_scene.cpp.

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