get_collision_objects_transform_unit.cpp File Reference

Verifies getCollisionObjectsTransform(LinkId) round-trips the setter for every backend. More...

#include <tesseract/common/macros.h>
#include <gtest/gtest.h>
#include <stdexcept>
#include <vector>
#include <tesseract/collision/test_suite/get_collision_objects_transform_unit.hpp>
#include <tesseract/collision/bullet/bullet_discrete_simple_manager.h>
#include <tesseract/collision/bullet/bullet_discrete_bvh_manager.h>
#include <tesseract/collision/bullet/bullet_cast_simple_manager.h>
#include <tesseract/collision/bullet/bullet_cast_bvh_manager.h>
#include <tesseract/collision/fcl/fcl_discrete_managers.h>

Functions
	EXPECT_THROW (checker.setCollisionObjectsTransform(ids, poses), std::runtime_error)
	EXPECT_THROW (checker.setCollisionObjectsTransform(ids, poses, poses), std::runtime_error)
int	main (int argc, char **argv)

Variables
const std::vector< tesseract::common::LinkId >	ids { "link_a", "link_b" }
const tesseract::common::VectorIsometry3d	poses { Eigen::Isometry3d::Identity() }

Detailed Description

Verifies getCollisionObjectsTransform(LinkId) round-trips the setter for every backend.

Copyright

Copyright (c) 2026, 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