tesseract_geometry_serialization_unit.cpp File Reference

Tests serialization of geometry. More...

#include <tesseract/common/macros.h>
#include <gtest/gtest.h>
#include <sstream>
#include <octomap/octomap.h>
#include <cereal/archives/xml.hpp>
#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)
const Eigen::Vector3i	dims (2, 2, 2)
SignedDistanceField	object (domain, dims, distances)
	ar (object)
cereal::XMLInputArchive	ar (valid)
	EXPECT_NO_THROW (ar(loaded))
	ASSERT_NE (pos, std::string::npos)
corrupted_xml	replace (pos, from.size(), to)
std::stringstream	corrupted (corrupted_xml)
cereal::XMLInputArchive	ar (corrupted)
	EXPECT_ANY_THROW (ar(loaded))
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")
const std::vector< double >	distances { -0.5, -0.4, -0.3, -0.2, 0.1, 0.2, 0.3, 0.4 }
std::stringstream	ss
const std::string	xml = ss.str()
SignedDistanceField	loaded
std::string	corrupted_xml = xml
const std::string	from = "<dim_x>2</dim_x>"
const std::string	to = "<dim_x>3</dim_x>"
const auto	pos = corrupted_xml.find(from)

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.

Function Documentation

dims()

const Eigen::Vector3i dims	(	2	,
		2	,
		2
	)

Initial value:

{
  
  
  
  const Eigen::AlignedBox3d domain(Eigen::Vector3d(-1, -1, -1), Eigen::Vector3d(1, 1, 1))

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;
  }