#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <fstream>
#include <tesseract_collision/core/contact_managers_plugin_factory.h>
#include <tesseract_collision/bullet/bullet_factories.h>

Include dependency graph for contact_managers_factory_static_unit.cpp:

Functions
factory	clearSearchLibraries ()

factory	clearSearchPaths ()

	EXPECT_TRUE (cm !=nullptr)

int	main (int argc, char **argv)

Variables
std::string	config

ContactManagersPluginFactory	factory (config)

YAML::Node	plugin_config = YAML::Load(config)

DiscreteContactManager::UPtr	cm = factory.createDiscreteContactManager("BulletDiscreteBVHManager")

Function Documentation

◆ clearSearchLibraries()

factory clearSearchLibraries ( )

◆ clearSearchPaths()

factory clearSearchPaths ( )

◆ EXPECT_TRUE()

EXPECT_TRUE ( cm ! = nullptr )

◆ main()

int main	(	int	argc,
		char **	argv
	)

Variable Documentation

◆ cm

DiscreteContactManager::UPtr cm = factory.createDiscreteContactManager("BulletDiscreteBVHManager")

◆ config

std::string config

Initial value:

= R"(contact_manager_plugins:
                            search_paths:
                              - /usr/local/lib
                            search_libraries:
                              - tesseract_collision_bullet_factories_not_there
                              - tesseract_collision_fcl_factories_not_there
                            discrete_plugins:
                              default: BulletDiscreteBVHManager
                              plugins:
                                BulletDiscreteBVHManager:
                                  class: BulletDiscreteBVHManagerFactory
                                BulletDiscreteSimpleManager:
                                  class: BulletDiscreteSimpleManagerFactory
                                FCLDiscreteBVHManager:
                                  class: FCLDiscreteBVHManagerFactory
                            continuous_plugins:
                              default: BulletCastBVHManager
                              plugins:
                                BulletCastBVHManager:
                                  class: BulletCastBVHManagerFactory
                                BulletCastSimpleManager:
                                  class: BulletCastSimpleManagerFactory)"

◆ factory

KinematicsPluginFactory factory ( config )