tesseract_geometry_serialization_unit.cpp File Reference

Tests serialization of geometry. More...

#include <tesseract/common/macros.h>
#include <gtest/gtest.h>
#include <octomap/octomap.h>
#include <tesseract/common/unit_test_utils.h>
#include <tesseract/common/resource_locator.h>
#include <tesseract/common/utils.h>
#include <tesseract/geometry/geometries.h>
#include <tesseract/geometry/mesh_parser.h>
#include <tesseract/geometry/cereal_serialization.h>
#include <tesseract/geometry/impl/octree_utils.h>
#include <tesseract/common/serialization.h>

Functions
meshes	push_back (object.front())
pc points	emplace_back (.5, 0.5, 0.5)
pc points	emplace_back (-.5, -0.5, -0.5)
pc points	emplace_back (-.5, 0.5, 0.5)
cloned	setUUID (orig->getUUID())
	EXPECT_EQ (orig_str, clone_str)
int	main (int argc, char **argv)

Variables
tesseract::common::testSerialization< Box > *	object
std::string	path = "package://tesseract/support/meshes/sphere_p25m.stl"
std::vector< tesseract::geometry::PolygonMesh::Ptr >	meshes = createMeshFromPath<Mesh>(mesh_file)
auto	compound_object = std::make_shared<CompoundMesh>(meshes)
TestPointCloud	pc
auto	octree = createOctree(pc, 1, false, true)
auto	orig = std::make_shared<Octree>(std::move(octree), OctreeSubType::BOX, false, true)
auto	cloned = std::static_pointer_cast<Octree>(orig->clone())
auto	orig_str = tesseract::common::Serialization::toArchiveStringXML<std::shared_ptr<Octree>>(orig, "octree")
auto	clone_str = tesseract::common::Serialization::toArchiveStringXML<std::shared_ptr<Octree>>(cloned, "octree")

Detailed Description

Tests serialization of geometry.

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.

Variable Documentation

object

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

Initial value:

{
  auto object = std::make_shared<Box>(1, 2, 3)

pc

tesseract::geometry::PointCloud pc

Initial value:

{
  struct TestPointCloud
  {
    struct point
    {
      point(double x, double y, double z) : x(x), y(y), z(z) {}
      double x;
      double y;
      double z;
    };
 
    std::vector<point> points;
  }