profile_plugin_factory_unit.cpp File Reference

Tesseract profile plugin factory test. More...

#include <tesseract/common/macros.h>
#include <gtest/gtest.h>
#include <yaml-cpp/yaml.h>
#include <tesseract/common/profile_plugin_factory.h>
#include <tesseract/common/profile_dictionary.h>
#include <tesseract/common/profile.h>
#include <tesseract/common/plugin_info.h>
#include <tesseract/common/resource_locator.h>
#include <tesseract/common/yaml_utils.h>
#include <tesseract/common/yaml_extensions.h>
#include <tesseract/common/utils.h>
#include "test_profile.h"

Functions
	EXPECT_TRUE (factory.getSearchPaths().empty())
	EXPECT_EQ (factory.getSearchPaths().size(), 0)
	EXPECT_FALSE (factory.hasPlugins())
	EXPECT_TRUE (factory.getFactoryData()==nullptr)
	EXPECT_TRUE (factory.getProfileDictionary().getAllProfileEntries().empty())
factory	addSearchPath ("/usr/local/lib")
	EXPECT_EQ (factory.getSearchPaths().size(), 1)
factory	addSearchLibrary ("tesseract_collision")
factory	clearSearchPaths ()
factory	clearSearchLibraries ()
factory	setFactoryData (factory_data)
	EXPECT_EQ (factory_data, factory.getFactoryData())
	EXPECT_TRUE (map.find(ns)==map.end())
factory	addPlugin (ns, name, pi)
	EXPECT_TRUE (map.find(ns) !=map.end())
	EXPECT_TRUE (map.at(ns).find(name) !=map.at(ns).end())
	EXPECT_EQ (map.find(ns) ->second.size(), 1)
factory	addPlugin (ns, default_name, pi2)
	EXPECT_TRUE (map.at(ns).find(default_name) !=map.at(ns).end())
	EXPECT_EQ (map.find(ns) ->second.size(), 2)
	EXPECT_ANY_THROW (factory.removePlugin("ns_does_not_exist", default_name))
	EXPECT_ANY_THROW (factory.removePlugin(ns, "profile_does_not_exist"))
	EXPECT_TRUE (factory.create("ns_does_not_exist", default_name)==nullptr)
	EXPECT_TRUE (factory.create(ns, "profile_does_not_exist")==nullptr)
factory	removePlugin (ns, default_name)
factory	removePlugin (ns, name)
	EXPECT_FALSE (factory.getProfileDictionary().getAllProfileEntries().empty())
	EXPECT_EQ (map.size(), 2)
	EXPECT_TRUE (map.find("TrajOptCollisionCost") !=map.end())
	EXPECT_TRUE (map.at("TrajOptCollisionCost").find("DiscreteCollisionProfile") !=map.at("TrajOptCollisionCost").end())
	EXPECT_TRUE (map.at("TrajOptCollisionCost").find("DiscreteCollisionProfile2") !=map.at("TrajOptCollisionCost").end())
	EXPECT_EQ (map.find("TrajOptCollisionCost") ->second.size(), 2)
	EXPECT_TRUE (map.find("TrajOptCollisionConstraint") !=map.end())
	EXPECT_TRUE (map.at("TrajOptCollisionConstraint").find("DiscreteCollisionProfile") !=map.at("TrajOptCollisionConstraint").end())
	EXPECT_TRUE (map.at("TrajOptCollisionConstraint").find("DiscreteCollisionProfile2") !=map.at("TrajOptCollisionConstraint").end())
	EXPECT_EQ (map.find("TrajOptCollisionConstraint") ->second.size(), 2)
	EXPECT_TRUE (plugin !=nullptr)
	EXPECT_TRUE (std::dynamic_pointer_cast< TestProfile >(plugin) ->enabled)
	EXPECT_FALSE (std::dynamic_pointer_cast< TestProfile >(plugin) ->enabled)
factory	saveConfig (config_filepath)
ProfilePluginFactory	factory (config, locator)
ProfilePluginFactory	factory (config)
plugin_yaml	remove ("DiscreteCollisionProfile2")
	EXPECT_TRUE (plugin==nullptr)
plugin_yaml	remove ("class")
	EXPECT_ANY_THROW (ProfilePluginFactory factory(config, locator))
int	main (int argc, char **argv)

Variables
ProfilePluginFactory	factory
auto	factory_data = std::make_shared<ProfileFactoryData>()
const std::string	ns { "TesseractCollisionCost" }
const std::string	name { "freespace" }
const std::string	default_name { "default" }
const std::string	class_name { "TestProfileFactory" }
tesseract::common::PluginInfo	pi
	map = factory.getPlugins()
tesseract::common::PluginInfo	pi2
const std::filesystem::path	config_filepath
tesseract::common::GeneralResourceLocator	locator
std::string	yaml_string
std::shared_ptr< Profile >	plugin = factory.create("TrajOptCollisionCost", "DiscreteCollisionProfile")
auto	config
auto	plugin_yaml = config["profile_plugins"]["profiles"]["TrajOptCollisionCost"]

Detailed Description

Tesseract profile plugin factory test.

Author

Levi Armstrong

Date

Feb 4, 2025

Copyright

Copyright (c) 2025, 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.

Variable Documentation

factory

ProfilePluginFactory factory(config, locator)

Initial value:

{
  tesseract::common::GeneralResourceLocator locator

config_filepath

const std::filesystem::path config_filepath

Initial value:

= std::filesystem::path(tesseract::common::getTempPath()) / "profile_"
                                                                                                          "plugins_"
                                                                                                          "export.yaml"

yaml_string

std::string yaml_string

Initial value:

= R"(
profile_plugins:
  search_paths:
    - )" + lib_dir + R"(
  search_libraries:
    - tesseract_common_test_plugins
  profiles:
    TrajOptCollisionCost:
      DiscreteCollisionProfile:
        class: TestProfileFactory
        config:
          enabled: true
      DiscreteCollisionProfile2:
        class: TestProfileFactory
        config:
          enabled: false
    TrajOptCollisionConstraint:
      DiscreteCollisionProfile:
        class: TestProfileFactory
        config:
          enabled: false
      DiscreteCollisionProfile2:
        class: TestProfileFactory
        config:
          enabled: true)"

config

auto config

Initial value:

=
        config_yaml[tesseract::common::ProfilesPluginInfo::CONFIG_KEY].as<tesseract::common::ProfilesPluginInfo>()