tesseract_scene_graph_serialization_unit.cpp File Reference

Tests serialization of tesseract::scene_graph. More...

#include <tesseract/common/macros.h>
#include <gtest/gtest.h>
#include <tesseract/geometry/geometries.h>
#include <tesseract/scene_graph/graph.h>
#include <tesseract/scene_graph/joint.h>
#include <tesseract/scene_graph/link.h>
#include <tesseract/scene_graph/scene_state.h>
#include <tesseract/scene_graph/cereal_serialization.h>
#include <tesseract/common/serialization.h>
#include <tesseract/common/unit_test_utils.h>
#include <tesseract/common/utils.h>

Functions
object parent_to_joint_origin_transform	translate (Eigen::Vector3d(5.5, 6.6, 7.7))
object origin	translate (Eigen::Vector3d(5.6, 7.8, -1.7))
object visual	push_back (std::make_shared< Visual >())
object visual	push_back (vis)
object collision	push_back (std::make_shared< Collision >())
object collision	push_back (col)
tesseract::scene_graph::SceneGraph	createTestSceneGraph ()
object link_transforms["link_transforms_key"]	setIdentity ()
object link_transforms["link_transforms_key"]	translate (Eigen::Vector3d(1, 2, 3))
object joint_transforms["joint_transforms_key"]	translate (Eigen::Vector3d(5, 6, 7))
int	main (int argc, char **argv)

Variables
tesseract::common::testSerialization< JointDynamics > *	object
object	type = JointType::PLANAR
object	axis = Eigen::Vector3d(1.1, 2.2, 3.3)
object	child_link_name = "child_name"
object	parent_link_name = "parent_name"
object	dynamics = std::make_shared<JointDynamics>(1.1, 2.2)
object	limits = std::make_shared<JointLimits>(1.1, 2.2, 3.3, 4.4, 5.5, 6.5)
object	safety = std::make_shared<JointSafety>(1.1, 2.2, 3.3, 4.4)
object	calibration = std::make_shared<JointCalibration>(1.1, 2.2, 3.3)
object	mimic = std::make_shared<JointMimic>(1.1, 2.2, "mimic_name")
object	color = Eigen::Vector4d(0.1, 0.2, 0.3, 1.0)
object	texture_filename = "test_filename"
object	mass = 1.2
object	ixx = 2.3
object	ixy = 3.4
object	ixz = 4.5
object	iyy = 5.6
object	iyz = 6.7
object	izz = 7.8
object	geometry = std::make_shared<tesseract::geometry::Cone>(1.1, 2.2)
object	material = std::make_shared<Material>("test_name")
object	name = "visual_name"
object	inertial = std::make_shared<Inertial>()
auto	vis = std::make_shared<Visual>()
auto	col = std::make_shared<Collision>()
object	joints ["j_1"] = 12.3

Detailed Description

Tests serialization of tesseract::scene_graph.

Author

Levi Armstrong

Matthew Powelson

Date

March 18, 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

translate()

vis origin translate

(

Eigen::Vector3d(5.5, 6.6, 7.7)

)

Initial value:

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

Variable Documentation

object

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

Initial value:

{
  auto object = std::make_shared<JointDynamics>(1.1, 2.2)