Tests for ContactManagersPluginInfo schema validation with derived type support. More...

#include <tesseract/common/macros.h>
#include <algorithm>
#include <gtest/gtest.h>
#include <yaml-cpp/yaml.h>
#include <tesseract/common/yaml_extensions.h>
#include <tesseract/common/property_tree.h>
#include <tesseract/collision/bullet/bullet_factories.h>
#include <tesseract/collision/fcl/fcl_factories.h>
#include <boost_plugin_loader/utils.h>

Functions
schema	mergeConfig (config)

	EXPECT_TRUE (errors.empty())<<[&]

	EXPECT_FALSE (errors.empty())

	for (const auto &e :errors)

	EXPECT_TRUE (found_derive_error)<< "Expected a derived-type or schema-not-found error"

	EXPECT_TRUE (found_class_error)<< "Expected an error about missing 'class' field"

YAML::Node	discrete_plugins (YAML::NodeType::Map)

YAML::Node	plugins (YAML::NodeType::Map)

YAML::Node	plugin_info (YAML::NodeType::Map)

	EXPECT_TRUE (found_plugins_error)<< "Expected an error about 'plugins' having the wrong type"

	EXPECT_TRUE (std::any_of(errors.begin(), errors.end(), [](const auto &error) { return error.find("discrete_plugins.plugins") !=std::string::npos &&error.find("required") !=std::string::npos;}))

	EXPECT_TRUE (schema.validate().empty())

std::filesystem::path	file_path (__FILE__)

int	main (int argc, char **argv)

Variables
YAML::Node	config

auto	errors = schema.validate()

bool	found_derive_error = false

bool	found_class_error = false

	discrete_plugins ["default"] = "BulletDiscreteSimpleManager"

	plugin_info ["class"] = "BulletDiscreteSimpleManagerFactory"

	plugins ["BulletDiscreteSimpleManager"] = plugin_info

bool	found_plugins_error = false

std::filesystem::path	config_path = file_path.parent_path() / "contact_manager_plugins.yaml"

YAML::Node	full_config = YAML::LoadFile(config_path.string())

Detailed Description

Tests for ContactManagersPluginInfo schema validation with derived type support.

Author: Levi Armstrong

Date: April 4, 2026

Copyright: Copyright (c) 2026, Levi Armstrong

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

◆ file_path()

std::filesystem::path file_path ( __FILE__ )

Initial value:

{

using namespace tesseract::common

tesseract::common

Namespace owning boost's hash_is_avalanching, and defined iff boost has the trait at all.

Definition allowed_collision_matrix.h:15

Variable Documentation

◆ config

YAML::Node config