tesseract_common_serialization_unit.cpp File Reference

Tests serialization of types in tesseract_common. More...

#include <tesseract/common/macros.h>
#include <gtest/gtest.h>
#include <tesseract/common/serialization.h>
#include <tesseract/common/cereal_serialization.h>
#include <tesseract/common/unit_test_utils.h>
#include <tesseract/common/utils.h>
#include <tesseract/common/allowed_collision_matrix.h>
#include <tesseract/common/collision_margin_data.h>
#include <tesseract/common/joint_state.h>
#include <tesseract/common/manipulator_info.h>
#include <tesseract/common/resource_locator.h>
#include <tesseract/common/kinematic_limits.h>
#include <tesseract/common/calibration_info.h>
#include <tesseract/common/plugin_info.h>
#include <tesseract/common/profile.h>
#include <tesseract/common/profile_dictionary.h>

Functions
bool	tesseract::common::operator== (const ProfileDictionary &lhs, const ProfileDictionary &rhs)
bool	tesseract::common::operator!= (const ProfileDictionary &lhs, const ProfileDictionary &rhs)
template<class Archive >
void	tesseract::common::serialize (Archive &ar, TestProfile &obj)
	EXPECT_EQ (profile.getKey(), 100)
profile_dictionary	addProfile ("test_namespace_1", "profile_a", profile_a)
profile_dictionary	addProfile ("test_namespace_1", "profile_b", profile_b)
profile_dictionary	addProfile ("test_namespace_2", "profile_c", profile_c)
profile_dictionary	addProfile ("test_namespace_2", "profile_c", profile_d)
	tesseract::common::testSerialization< GeneralResourceLocator::Ptr > (locator, "GeneralResourceLocator", tesseract::common::testSerializationComparePtrEqual< GeneralResourceLocator::Ptr >)
limits	resize (3)
	EXPECT_EQ (limits.joint_limits.rows(), 3)
	EXPECT_EQ (limits.velocity_limits.rows(), 3)
	EXPECT_EQ (limits.acceleration_limits.rows(), 3)
limits	joint_limits<< -5, 5, -5, 5, -5, 5;limits.velocity_limits<< -6, 6, -6, 6, -6, 6;limits.acceleration_limits<< -7, 7, -7, 7, -7, 7;tesseract::common::testSerialization< KinematicLimits > (limits, "KinematicLimits")
trajectory states	push_back (joint_state)
object	addAllowedCollision ("link_1", "link2", "reason1")
object	addAllowedCollision ("link_2", "link1", "reason2")
object	addAllowedCollision ("link_4", "link3", "reason3")
object	addAllowedCollision ("link_5", "link2", "reason4")
object joints["test"]	setIdentity ()
object joints["test"]	translate (Eigen::Vector3d(2, 4, 8))
object	setCollisionMargin ("link_1", "link2", 1.1)
object	setCollisionMargin ("link_2", "link1", 2.2)
object	setCollisionMargin ("link_4", "link3", 3.3)
object	setCollisionMargin ("link_5", "link2", -4.4)
object search_paths	emplace_back ("path 1")
object search_paths	emplace_back ("path 2")
object search_libraries	emplace_back ("search_libraries 1")
object search_libraries	emplace_back ("search_libraries 2")
object search_libraries	emplace_back ("search_libraries 3")
	tesseract::common::testSerialization< Eigen::VectorXd > (ev, "eigen_vector_xd", compare_fn)
	for (int i=0;i< 5;++i)
	EXPECT_EQ (ext, ".etax")
	EXPECT_EQ (default_ext, ".trsx")
	EXPECT_EQ (ext, ".etaj")
	EXPECT_EQ (default_ext, ".trsj")
	EXPECT_EQ (ext, ".etab")
	EXPECT_EQ (default_ext, ".trsb")
int	main (int argc, char **argv)

Variables
auto	profile_b = std::make_shared<TestProfile>(100)
auto	profile_c = std::make_shared<TestProfile>(200)
auto	profile_d = std::make_shared<TestProfile>(200)
ProfileDictionary	profile_dictionary
ManipulatorInfo	manip_info2 ("manipulator", "world", "tool0")
manip_info2	tcp_offset = "tool0"
joint_state	joint_names = { "joint_1", "joint_2", "joint_3" }
joint_state	position = Eigen::VectorXd::Constant(3, 5)
joint_state	velocity = Eigen::VectorXd::Constant(3, 6)
joint_state	acceleration = Eigen::VectorXd::Constant(3, 7)
joint_state	effort = Eigen::VectorXd::Constant(3, 8)
joint_state	time = 100
JointTrajectory	trajectory
trajectory	description = "this is a test"
tesseract::common::testSerialization< AllowedCollisionMatrix > *	object
PluginInfo	plugin
plugin	class_name = "test_class_name"
plugin	config ["test"] = "value"
object discrete_plugin_infos	default_plugin = "test_string"
object discrete_plugin_infos	plugins ["plugin_key"] = plugin
object	plugin_infos ["plugin 1"]["plugin_key"] = plugin
std::string	default_ext = tesseract::common::serialization::xml::extension<ExtensionMacroTestB>::value

Detailed Description

Tests serialization of types in tesseract_common.

Author

Levi Armstrong

Matthew Powelson

Date

March 16, 2022

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

setIdentity()

pose setIdentity

(

)

Initial value:

{
  
  Eigen::Isometry3d pose

emplace_back()

object search_paths emplace_back

(

"path 1"

)

Initial value:

{
  auto object = std::make_shared<ProfilesPluginInfo>()

Variable Documentation

object

tesseract::common::testSerialization< SceneState > * object

Initial value:

{
  auto object = std::make_shared<AllowedCollisionMatrix>()

plugin

auto plugin

Initial value:

{
    PluginInfoContainer container