contact_managers_factory_unit.cpp File Reference

Tesseract collision contact managers factory test. More...

#include <tesseract/common/macros.h>
#include <gtest/gtest.h>
#include <fstream>
#include <tesseract/collision/contact_managers_plugin_factory.h>
#include <tesseract/collision/discrete_contact_manager.h>
#include <tesseract/collision/continuous_contact_manager.h>
#include <tesseract/common/yaml_utils.h>
#include <tesseract/common/resource_locator.h>

Functions
void	runContactManagersFactoryTest (const std::filesystem::path &config_path)
	runContactManagersFactoryTest (config_path)
	runContactManagersFactoryTest (export_config_path)
	EXPECT_EQ (sp.size(), 2)
	for (auto it=search_paths.begin();it !=search_paths.end();++it)
	EXPECT_EQ (sl.size(), 2)
	EXPECT_EQ (discrete_plugins.size(), 3)
	EXPECT_EQ (continuous_plugins.size(), 2)
	EXPECT_FALSE (factory.getSearchPaths().empty())
	EXPECT_EQ (factory.getSearchPaths().size(), 1)
	EXPECT_EQ (factory.getSearchLibraries().size(), 2)
	EXPECT_EQ (factory.getDiscreteContactManagerPlugins().size(), 0)
	EXPECT_ANY_THROW (factory.getDefaultDiscreteContactManagerPlugin())
	EXPECT_FALSE (factory.hasDiscreteContactManagerPlugins())
factory	addSearchPath ("/usr/local/lib")
factory	addSearchLibrary ("tesseract_collision")
	EXPECT_EQ (factory.getSearchLibraries().size(), 3)
	EXPECT_TRUE (map.find("NotFound")==map.end())
factory	addDiscreteContactManagerPlugin ("TestDiscreteManager", pi)
	EXPECT_TRUE (factory.hasDiscreteContactManagerPlugins())
	EXPECT_TRUE (map.find("TestDiscreteManager") !=map.end())
	EXPECT_EQ (factory.getDefaultDiscreteContactManagerPlugin(), "TestDiscreteManager")
factory	addDiscreteContactManagerPlugin ("Test2DiscreteManager", pi2)
	EXPECT_TRUE (map.find("Test2DiscreteManager") !=map.end())
	EXPECT_EQ (factory.getDefaultDiscreteContactManagerPlugin(), "Test2DiscreteManager")
factory	setDefaultDiscreteContactManagerPlugin ("TestDiscreteManager")
factory	removeDiscreteContactManagerPlugin ("TestDiscreteManager")
	EXPECT_ANY_THROW (factory.removeDiscreteContactManagerPlugin("DoesNotExist"))
factory	addContinuousContactManagerPlugin ("TestContinuousManager", pi)
	EXPECT_TRUE (map.find("TestContinuousManager") !=map.end())
	EXPECT_EQ (factory.getDefaultContinuousContactManagerPlugin(), "TestContinuousManager")
factory	addContinuousContactManagerPlugin ("Test2ContinuousManager", pi2)
	EXPECT_TRUE (map.find("Test2ContinuousManager") !=map.end())
	EXPECT_EQ (factory.getDefaultContinuousContactManagerPlugin(), "Test2ContinuousManager")
factory	setDefaultContinuousContactManagerPlugin ("TestContinuousManager")
factory	removeContinuousContactManagerPlugin ("TestContinuousManager")
int	main (int argc, char **argv)

Variables
std::filesystem::path	config_path = file_path.parent_path() / "contact_manager_plugins.yaml"
std::filesystem::path	export_config_path
tesseract::common::GeneralResourceLocator	locator
ContactManagersPluginFactory	factory (config, locator)
YAML::Node	plugin_config = tesseract::common::loadYamlString(config, locator)
const YAML::Node &	plugin_info = plugin_config["contact_manager_plugins"]
const YAML::Node &	search_paths = plugin_info["search_paths"]
const YAML::Node &	search_libraries = plugin_info["search_libraries"]
const YAML::Node &	discrete_plugins = plugin_info["discrete_plugins"]["plugins"]
const YAML::Node &	continuous_plugins = plugin_info["continuous_plugins"]["plugins"]
tesseract::common::PluginInfo	pi
pi	class_name = "TestDiscreteManagerFactory"
	map = factory.getDiscreteContactManagerPlugins()
tesseract::common::PluginInfo	pi2

Detailed Description

Tesseract collision contact managers factory test.

Author

Levi Armstrong

Date

October 25, 2021

Copyright

Copyright (c) 2021, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Function Documentation

EXPECT_EQ() [1/2]

EXPECT_EQ	(	sp.	size(),
		2
	)

Initial value:

{
    std::vector<std::string> sp = factory.getSearchPaths()

EXPECT_EQ() [2/2]

EXPECT_EQ	(	sl.	size(),
		2
	)

Initial value:

{
    std::vector<std::string> sl = factory.getSearchLibraries()

EXPECT_TRUE()

EXPECT_TRUE

(

map.

find"NotFound" = =map.end()

)

Initial value:

{
    tesseract::common::PluginInfoMap map = factory.getContinuousContactManagerPlugins()

Variable Documentation

export_config_path

std::filesystem::path export_config_path

Initial value:

= std::filesystem::path(tesseract::common::getTempPath()) / "contac"
                                                                                                       "t_"
                                                                                                       "manage"
                                                                                                       "r_"
                                                                                                       "plugin"
                                                                                                       "s_"
                                                                                                       "export"
                                                                                                       ".yaml"

locator

tesseract::common::GeneralResourceLocator locator

Initial value:

{
  std::string config = R"(contact_manager_plugins:
                            search_paths:
                              - /usr/local/lib
                            search_libraries:
                              - tesseract_collision_bullet_factories
                              - tesseract_collision_fcl_factories
                            discrete_plugins:
                              default: BulletDiscreteBVHManager
                              plugins:
                                BulletDiscreteBVHManager:
                                  class: BulletDiscreteBVHManagerFactory
                                BulletDiscreteSimpleManager:
                                  class: BulletDiscreteSimpleManagerFactory
                                FCLDiscreteBVHManager:
                                  class: FCLDiscreteBVHManagerFactory
                            continuous_plugins:
                              default: BulletCastBVHManager
                              plugins:
                                BulletCastBVHManager:
                                  class: BulletCastBVHManagerFactory
                                BulletCastSimpleManager:
                                  class: BulletCastSimpleManagerFactory)"