contact_managers_factory_unit.cpp File Reference

Tesseract collision contact managers factory test. More...

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

Include dependency graph for contact_managers_factory_unit.cpp:

Functions
void	runContactManagersFactoryTest (const tesseract_common::fs::path &config_path)
	runContactManagersFactoryTest (config_path)
	runContactManagersFactoryTest (export_config_path)
	EXPECT_EQ (sp.size(), 2)
	for (auto it=search_paths.begin();it !=search_paths.end();++it)
	EXPECT_EQ (sl.size(), 2)
	EXPECT_EQ (discrete_plugins.size(), 3)
	EXPECT_EQ (continuous_plugins.size(), 2)
	EXPECT_FALSE (factory.getSearchPaths().empty())
	EXPECT_EQ (factory.getSearchPaths().size(), 1)
	EXPECT_EQ (factory.getSearchLibraries().size(), 2)
	EXPECT_EQ (factory.getDiscreteContactManagerPlugins().size(), 0)
	EXPECT_ANY_THROW (factory.getDefaultDiscreteContactManagerPlugin())
	EXPECT_FALSE (factory.hasDiscreteContactManagerPlugins())
factory	addSearchPath ("/usr/local/lib")
factory	addSearchLibrary ("tesseract_collision")
	EXPECT_EQ (factory.getSearchLibraries().size(), 3)
	EXPECT_TRUE (map.find("NotFound")==map.end())
factory	addDiscreteContactManagerPlugin ("TestDiscreteManager", pi)
	EXPECT_TRUE (factory.hasDiscreteContactManagerPlugins())
	EXPECT_TRUE (map.find("TestDiscreteManager") !=map.end())
	EXPECT_EQ (factory.getDefaultDiscreteContactManagerPlugin(), "TestDiscreteManager")
factory	addDiscreteContactManagerPlugin ("Test2DiscreteManager", pi2)
	EXPECT_TRUE (map.find("Test2DiscreteManager") !=map.end())
	EXPECT_EQ (factory.getDefaultDiscreteContactManagerPlugin(), "Test2DiscreteManager")
factory	setDefaultDiscreteContactManagerPlugin ("TestDiscreteManager")
factory	removeDiscreteContactManagerPlugin ("TestDiscreteManager")
	EXPECT_ANY_THROW (factory.removeDiscreteContactManagerPlugin("DoesNotExist"))
factory	addContinuousContactManagerPlugin ("TestContinuousManager", pi)
	EXPECT_TRUE (map.find("TestContinuousManager") !=map.end())
	EXPECT_EQ (factory.getDefaultContinuousContactManagerPlugin(), "TestContinuousManager")
factory	addContinuousContactManagerPlugin ("Test2ContinuousManager", pi2)
	EXPECT_TRUE (map.find("Test2ContinuousManager") !=map.end())
	EXPECT_EQ (factory.getDefaultContinuousContactManagerPlugin(), "Test2ContinuousManager")
factory	setDefaultContinuousContactManagerPlugin ("TestContinuousManager")
factory	removeContinuousContactManagerPlugin ("TestContinuousManager")
int	main (int argc, char **argv)

Variables
tesseract_common::fs::path	config_path = file_path.parent_path() / "contact_manager_plugins.yaml"
tesseract_common::fs::path	export_config_path
ContactManagersPluginFactory	factory (config)
YAML::Node	plugin_config = YAML::Load(config)
const YAML::Node &	plugin_info = plugin_config["contact_manager_plugins"]
const YAML::Node &	search_paths = plugin_info["search_paths"]
const YAML::Node &	search_libraries = plugin_info["search_libraries"]
const YAML::Node &	discrete_plugins = plugin_info["discrete_plugins"]["plugins"]
const YAML::Node &	continuous_plugins = plugin_info["continuous_plugins"]["plugins"]
tesseract_common::PluginInfo	pi
pi	class_name = "TestDiscreteManagerFactory"
	map = factory.getDiscreteContactManagerPlugins()
tesseract_common::PluginInfo	pi2

Detailed Description

Tesseract collision contact managers factory test.

Author

Levi Armstrong

Date

October 25, 2021

Version

TODO

Bug:

No known bugs

Copyright

Copyright (c) 2021, Southwest Research Institute

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.

Author

Levi Armstrong

Date

October 25, 2021

Version

TODO

Bug:

No known bugs

Copyright

Copyright (c) 2021, Southwest Research Institute

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

addContinuousContactManagerPlugin() [1/2]

factory addContinuousContactManagerPlugin	(	"Test2ContinuousManager"	,
		pi2
	)

addContinuousContactManagerPlugin() [2/2]

factory addContinuousContactManagerPlugin	(	"TestContinuousManager"	,
		pi
	)

addDiscreteContactManagerPlugin() [1/2]

factory addDiscreteContactManagerPlugin	(	"Test2DiscreteManager"	,
		pi2
	)

addDiscreteContactManagerPlugin() [2/2]

factory addDiscreteContactManagerPlugin	(	"TestDiscreteManager"	,
		pi
	)

addSearchLibrary()

factory addSearchLibrary

(

"tesseract_collision"

)

addSearchPath()

factory addSearchPath

(

"/usr/local/lib"

)

EXPECT_ANY_THROW() [1/2]

EXPECT_ANY_THROW

(

factory.

getDefaultDiscreteContactManagerPlugin()

)

EXPECT_ANY_THROW() [2/2]

EXPECT_ANY_THROW

(

factory.

removeDiscreteContactManagerPlugin"DoesNotExist"

)

EXPECT_EQ() [1/12]

EXPECT_EQ	(	continuous_plugins.	size(),
		2
	)

EXPECT_EQ() [2/12]

EXPECT_EQ	(	discrete_plugins.	size(),
		3
	)

EXPECT_EQ() [3/12]

EXPECT_EQ	(	factory.	getDefaultContinuousContactManagerPlugin(),
		"Test2ContinuousManager"
	)

EXPECT_EQ() [4/12]

EXPECT_EQ	(	factory.	getDefaultContinuousContactManagerPlugin(),
		"TestContinuousManager"
	)

EXPECT_EQ() [5/12]

EXPECT_EQ	(	factory.	getDefaultDiscreteContactManagerPlugin(),
		"Test2DiscreteManager"
	)

EXPECT_EQ() [6/12]

EXPECT_EQ	(	factory.	getDefaultDiscreteContactManagerPlugin(),
		"TestDiscreteManager"
	)

EXPECT_EQ() [7/12]

EXPECT_EQ	(	factory.	getDiscreteContactManagerPlugins).size(,
		0
	)

EXPECT_EQ() [8/12]

EXPECT_EQ	(	factory.	getSearchLibraries).size(,
		2
	)

EXPECT_EQ() [9/12]

EXPECT_EQ	(	factory.	getSearchLibraries).size(,
		3
	)

EXPECT_EQ() [10/12]

EXPECT_EQ	(	factory.	getSearchPaths).size(,
		1
	)

EXPECT_EQ() [11/12]

EXPECT_EQ	(	sl.	size(),
		2
	)

Initial value:

{
    std::set<std::string> sl = factory.getSearchLibraries()

EXPECT_EQ() [12/12]

EXPECT_EQ	(	sp.	size(),
		2
	)

Initial value:

{
    std::set<std::string> sp = factory.getSearchPaths()

EXPECT_FALSE() [1/2]

EXPECT_FALSE

(

factory.

getSearchPaths).empty(

)

EXPECT_FALSE() [2/2]

EXPECT_FALSE

(

factory.

hasDiscreteContactManagerPlugins()

)

EXPECT_TRUE() [1/6]

EXPECT_TRUE

(

factory.

hasDiscreteContactManagerPlugins()

)

EXPECT_TRUE() [2/6]

EXPECT_TRUE

(

map.

find"NotFound" = =map.end()

)

Initial value:

{
    tesseract_common::PluginInfoMap map = factory.getContinuousContactManagerPlugins()

EXPECT_TRUE() [3/6]

EXPECT_TRUE

(

map.find("Test2ContinuousManager") !

= map.end()

)

EXPECT_TRUE() [4/6]

EXPECT_TRUE

(

map.find("Test2DiscreteManager") !

= map.end()

)

EXPECT_TRUE() [5/6]

EXPECT_TRUE

(

map.find("TestContinuousManager") !

= map.end()

)

EXPECT_TRUE() [6/6]

EXPECT_TRUE

(

map.find("TestDiscreteManager") !

= map.end()

)

for()

for

(

auto

it = search_paths.begin(); it != search_paths.end(); ++it

)

main()

int main	(	int	argc,
		char **	argv
	)

removeContinuousContactManagerPlugin()

factory removeContinuousContactManagerPlugin

(

"TestContinuousManager"

)

removeDiscreteContactManagerPlugin()

factory removeDiscreteContactManagerPlugin

(

"TestDiscreteManager"

)

runContactManagersFactoryTest() [1/3]

runContactManagersFactoryTest

(

config_path

)

runContactManagersFactoryTest() [2/3]

void runContactManagersFactoryTest

(

const tesseract_common::fs::path &

config_path

)

runContactManagersFactoryTest() [3/3]

runContactManagersFactoryTest

(

export_config_path

)

setDefaultContinuousContactManagerPlugin()

factory setDefaultContinuousContactManagerPlugin

(

"TestContinuousManager"

)

setDefaultDiscreteContactManagerPlugin()

factory setDefaultDiscreteContactManagerPlugin

(

"TestDiscreteManager"

)

Variable Documentation

class_name

pi2 class_name = "TestDiscreteManagerFactory"

config_path

tesseract_common::fs::path config_path = file_path.parent_path() / "contact_manager_plugins.yaml"

continuous_plugins

const YAML::Node & continuous_plugins = plugin_info["continuous_plugins"]["plugins"]

discrete_plugins

const YAML::Node & discrete_plugins = plugin_info["discrete_plugins"]["plugins"]

export_config_path

tesseract_common::fs::path export_config_path

Initial value:

= tesseract_common::fs::path(tesseract_common::getTempPath()) / "contac"
                                                                                                                "t_"
                                                                                                                "manage"
                                                                                                                "r_"
                                                                                                                "plugin"
                                                                                                                "s_"
                                                                                                                "export"
                                                                                                                ".yaml"

factory

ContactManagersPluginFactory factory(config)

(

config

)

Initial value:

{
  std::string config = R"(contact_manager_plugins:
                            search_paths:
                              - /usr/local/lib
                            search_libraries:
                              - tesseract_collision_bullet_factories
                              - tesseract_collision_fcl_factories
                            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)"

map

map = factory.getDiscreteContactManagerPlugins()

pi

tesseract_common::PluginInfo pi

pi2

tesseract_common::PluginInfo pi2

plugin_config

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

plugin_info

const YAML::Node & plugin_info = plugin_config["contact_manager_plugins"]

search_libraries

const YAML::Node & search_libraries = plugin_info["search_libraries"]

search_paths

const YAML::Node & search_paths = plugin_info["search_paths"]