tesseract_srdf_serialization_unit.cpp File Reference

Tests serialization. More...

#include <tesseract/common/macros.h>
#include <gtest/gtest.h>
#include <sstream>
#include <tesseract/common/calibration_info.h>
#include <tesseract/common/collision_margin_data.h>
#include <tesseract/common/resource_locator.h>
#include <tesseract/common/serialization.h>
#include <tesseract/common/unit_test_utils.h>
#include <cereal/archives/json.hpp>
#include <tesseract/common/utils.h>
#include <tesseract/srdf/kinematics_information.h>
#include <tesseract/srdf/srdf_model.h>
#include <tesseract/srdf/cereal_serialization.h>
#include <tesseract/scene_graph/graph.h>
#include <tesseract/scene_graph/link.h>
#include <tesseract/scene_graph/joint.h>

Functions
SceneGraph	getSceneGraph ()
SRDFModel::Ptr	getSRDFModel (const SceneGraph &scene_graph, const tesseract::common::ResourceLocator &locator)
srdf collision_margin_data	setCollisionMargin ("link_1", "link_2", 0.01)
srdf collision_margin_data	setCollisionMargin ("link_3", "link_4", 0.02)
cal_tf	translation ()
	ar (loaded)
	EXPECT_EQ (loaded.name, srdf->name)
	ASSERT_NE (srdf->collision_margin_data, nullptr)
	ASSERT_NE (loaded.collision_margin_data, nullptr)
int	main (int argc, char **argv)

Variables
auto	graph = getSceneGraph()
auto	srdf = getSRDFModel(graph, locator)
srdf	collision_margin_data = std::make_shared<tesseract::common::CollisionMarginData>(0.05)
Eigen::Isometry3d	cal_tf = Eigen::Isometry3d::Identity()
srdf calibration_info	joints ["joint_a2"] = cal_tf
std::stringstream	ss
SRDFModel	loaded

Detailed Description

Tests serialization.

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.