tesseract_environment_unit.cpp File Reference

#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <algorithm>
#include <vector>
#include <omp.h>
#include <tesseract_urdf/urdf_parser.h>
#include <tesseract_geometry/impl/box.h>
#include <tesseract_geometry/impl/sphere.h>
#include <tesseract_common/resource_locator.h>
#include <tesseract_common/utils.h>
#include <tesseract_state_solver/kdl/kdl_state_solver.h>
#include <tesseract_collision/core/discrete_contact_manager.h>
#include <tesseract_collision/core/continuous_contact_manager.h>
#include <tesseract_environment/commands.h>
#include <tesseract_environment/environment.h>
#include <tesseract_environment/utils.h>
#include <tesseract_support/tesseract_support_resource_locator.h>

Include dependency graph for tesseract_environment_unit.cpp:

Enumerations
enum class	EnvironmentInitType { OBJECT , STRING , FILEPATH }

Functions
Eigen::Isometry3d	tcpCallback (const tesseract_common::ManipulatorInfo &mi)
SceneGraph::UPtr	getSceneGraph ()
SRDFModel::Ptr	getSRDFModel (const SceneGraph &scene_graph)
std::string	getSceneGraphString ()
std::string	getSRDFModelString ()
SceneGraph::Ptr	getSubSceneGraph ()
void	runGetLinkTransformsTest (Environment &env)
Environment::Ptr	getEnvironment (EnvironmentInitType init_type=EnvironmentInitType::OBJECT)
Environment::Ptr	getEnvironmentURDFOnly (EnvironmentInitType init_type)
	getEnvironmentURDFOnly (EnvironmentInitType::STRING)
	getEnvironmentURDFOnly (EnvironmentInitType::FILEPATH)
	EXPECT_TRUE (env !=nullptr)
	EXPECT_EQ (0, env->getRevision())
	EXPECT_FALSE (env->reset())
	EXPECT_TRUE (env->clone() !=nullptr)
	EXPECT_FALSE (env->init(commands))
commands	push_back (cmd)
	EXPECT_FALSE (env->init(urdf_string, rl))
tesseract_common::fs::path	urdf_path ("/usr/tmp/doesnotexist.urdf")
	EXPECT_FALSE (env->init(urdf_path, rl))
	EXPECT_FALSE (env->init(urdf_string, srdf_string, rl))
tesseract_common::fs::path	srdf_path (std::string(TESSERACT_SUPPORT_DIR)+"/urdf/lbr_iiwa_14_r820.srdf")
	EXPECT_FALSE (env->init(urdf_path, srdf_path, rl))
tesseract_common::fs::path	urdf_path (std::string(TESSERACT_SUPPORT_DIR)+"/urdf/lbr_iiwa_14_r820.urdf")
tesseract_common::fs::path	srdf_path ("/usr/tmp/doesnotexist.srdf")

Variables
auto	env = std::make_shared<Environment>()
auto	cmd = std::make_shared<MoveJointCommand>("joint_name", "parent_link")
std::string	urdf_string
std::string	srdf_string = getSRDFModelString()

Enumeration Type Documentation

EnvironmentInitType

enum class EnvironmentInitType

strong

Enumerator
OBJECT
STRING
FILEPATH

Function Documentation

EXPECT_EQ()

EXPECT_EQ	(	0	,
		env->	getRevision()
	)

EXPECT_FALSE() [1/6]

EXPECT_FALSE

(

env->

initcommands

)

EXPECT_FALSE() [2/6]

EXPECT_FALSE

(

env->

initurdf_path, rl

)

EXPECT_FALSE() [3/6]

EXPECT_FALSE

(

env->

initurdf_path, srdf_path, rl

)

EXPECT_FALSE() [4/6]

EXPECT_FALSE

(

env->

initurdf_string, rl

)

EXPECT_FALSE() [5/6]

EXPECT_FALSE

(

env->

initurdf_string, srdf_string, rl

)

EXPECT_FALSE() [6/6]

EXPECT_FALSE

(

env->

reset()

)

EXPECT_TRUE() [1/2]

EXPECT_TRUE

(

env !

= nullptr

)

EXPECT_TRUE() [2/2]

EXPECT_TRUE

(

env->clone() !

= nullptr

)

getEnvironment()

Environment::Ptr getEnvironment

(

EnvironmentInitType

init_type = EnvironmentInitType::OBJECT

)

getEnvironmentURDFOnly() [1/3]

Environment::Ptr getEnvironmentURDFOnly

(

EnvironmentInitType

init_type

)

getEnvironmentURDFOnly() [2/3]

getEnvironmentURDFOnly

(

EnvironmentInitType::FILEPATH

)

getEnvironmentURDFOnly() [3/3]

getEnvironmentURDFOnly

(

EnvironmentInitType::STRING

)

getSceneGraph()

SceneGraph::UPtr getSceneGraph

(

)

getSceneGraphString()

std::string getSceneGraphString

(

)

getSRDFModel()

SRDFModel::Ptr getSRDFModel

(

const SceneGraph &

scene_graph

)

getSRDFModelString()

std::string getSRDFModelString

(

)

getSubSceneGraph()

SceneGraph::Ptr getSubSceneGraph

(

)

push_back()

commands push_back

(

cmd

)

runGetLinkTransformsTest()

void runGetLinkTransformsTest

(

Environment &

env

)

srdf_path() [1/2]

tesseract_common::fs::path srdf_path

(

"/usr/tmp/doesnotexist.srdf"

)

srdf_path() [2/2]

tesseract_common::fs::path srdf_path

(

std::string(TESSERACT_SUPPORT_DIR)+"/urdf/lbr_iiwa_14_r820.srdf"

)

tcpCallback()

Eigen::Isometry3d tcpCallback

(

const tesseract_common::ManipulatorInfo &

mi

)

urdf_path() [1/2]

tesseract_common::fs::path urdf_path

(

"/usr/tmp/doesnotexist.urdf"

)

Initial value:

{  
    auto env = std::make_shared<Environment>()

urdf_path() [2/2]

tesseract_common::fs::path urdf_path

(

std::string(TESSERACT_SUPPORT_DIR)+"/urdf/lbr_iiwa_14_r820.urdf"

)

Variable Documentation

cmd

auto cmd = std::make_shared<MoveJointCommand>("joint_name", "parent_link")

env

auto env = std::make_shared<Environment>()

srdf_string

std::string srdf_string = getSRDFModelString()

urdf_string

std::string urdf_string

Initial value:

{  
    auto env = std::make_shared<Environment>()