test_planning_scene.cpp File Reference

#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(...)   INSTANTIATE_TEST_CASE_P(__VA_ARGS__)

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

(

...

)

INSTANTIATE_TEST_CASE_P(__VA_ARGS__)

Definition at line 668 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 450 of file test_planning_scene.cpp.

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getAttachedCollisionObjectsNames()

std::set< std::string > getAttachedCollisionObjectsNames

(

const planning_scene::PlanningScene &

ps

)

Definition at line 507 of file test_planning_scene.cpp.

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getCollisionObjectsNames()

std::set< std::string > getCollisionObjectsNames

(

const planning_scene::PlanningScene &

ps

)

Definition at line 496 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 674 of file test_planning_scene.cpp.

TEST() [1/13]

TEST	(	PlanningScene	,
		FailRetrievingNonExistentObject
	)

Definition at line 353 of file test_planning_scene.cpp.

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TEST() [2/13]

TEST	(	PlanningScene	,
		isStateValid
	)

Definition at line 238 of file test_planning_scene.cpp.

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TEST() [3/13]

TEST	(	PlanningScene	,
		loadBadSceneGeometry
	)

Definition at line 310 of file test_planning_scene.cpp.

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TEST() [4/13]

TEST	(	PlanningScene	,
		loadGoodSceneGeometryNewFormat
	)

Definition at line 249 of file test_planning_scene.cpp.

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TEST() [5/13]

TEST	(	PlanningScene	,
		loadGoodSceneGeometryOldFormat
	)

Definition at line 284 of file test_planning_scene.cpp.

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TEST() [6/13]

TEST	(	PlanningScene	,
		LoadOctomap
	)

Definition at line 94 of file test_planning_scene.cpp.

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TEST() [7/13]

TEST	(	PlanningScene	,
		LoadRestore
	)

Definition at line 80 of file test_planning_scene.cpp.

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TEST() [8/13]

TEST	(	PlanningScene	,
		LoadRestoreDiff
	)

Definition at line 147 of file test_planning_scene.cpp.

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TEST() [9/13]

TEST	(	PlanningScene	,
		MakeAttachedDiff
	)

Definition at line 207 of file test_planning_scene.cpp.

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TEST() [10/13]

TEST	(	PlanningScene	,
		RobotStateDiffBug
	)

Definition at line 517 of file test_planning_scene.cpp.

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TEST() [11/13]

TEST	(	PlanningScene	,
		switchCollisionDetectorType
	)

Definition at line 336 of file test_planning_scene.cpp.

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TEST() [12/13]

TEST	(	PlanningScene	,
		TestOneShapeObjectPose
	)

Definition at line 54 of file test_planning_scene.cpp.

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TEST() [13/13]

TEST	(	PlanningScene	,
		UpdateACMAfterObjectRemoval
	)

Definition at line 593 of file test_planning_scene.cpp.

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TEST_P()

TEST_P	(	CollisionDetectorTests	,
		ClearDiff
	)

Definition at line 364 of file test_planning_scene.cpp.

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