tesseract_urdf_collision_unit.cpp File Reference

#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <Eigen/Geometry>
#include <tesseract_urdf/collision.h>
#include <tesseract_geometry/impl/box.h>
#include <tesseract_support/tesseract_support_resource_locator.h>
#include "tesseract_urdf_common_unit.h"

Include dependency graph for tesseract_urdf_collision_unit.cpp:

Functions
	EXPECT_TRUE (runTest< std::vector< tesseract_scene_graph::Collision::Ptr > >(elem, &tesseract_urdf::parseCollision, str, "collision", resource_locator, 2))
	EXPECT_TRUE (elem.size()==1)
	EXPECT_TRUE (elem[0]->geometry !=nullptr)
	EXPECT_FALSE (elem[0]->origin.isApprox(Eigen::Isometry3d::Identity(), 1e-8))
	EXPECT_TRUE (elem[0]->origin.isApprox(Eigen::Isometry3d::Identity(), 1e-8))
	EXPECT_TRUE (elem[1]->geometry !=nullptr)
	EXPECT_TRUE (elem[1]->origin.isApprox(Eigen::Isometry3d::Identity(), 1e-8))
	EXPECT_FALSE (runTest< std::vector< tesseract_scene_graph::Collision::Ptr > >(elem, &tesseract_urdf::parseCollision, str, "collision", resource_locator, 2))

Variables
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH	TESSERACT_COMMON_IGNORE_WARNINGS_POP
std::vector< tesseract_scene_graph::Collision::Ptr >	elem

Function Documentation

EXPECT_FALSE() [1/2]

EXPECT_FALSE

(

elem->origin.

isApprox(Eigen::Isometry3d::Identity(), 1e-8)[0]

)

EXPECT_FALSE() [2/2]

EXPECT_FALSE

(

runTest< std::vector< tesseract_scene_graph::Collision::Ptr > >

elem, &tesseract_urdf::parseCollision, str, "collision", resource_locator, 2

)

EXPECT_TRUE() [1/6]

EXPECT_TRUE

(

elem.

size() = =1

)

EXPECT_TRUE() [2/6]

EXPECT_TRUE

(

elem->geometry !

[0] = nullptr

)

EXPECT_TRUE() [3/6]

EXPECT_TRUE

(

elem->origin.

isApprox(Eigen::Isometry3d::Identity(), 1e-8)[0]

)

EXPECT_TRUE() [4/6]

EXPECT_TRUE

(

elem->geometry !

[1] = nullptr

)

EXPECT_TRUE() [5/6]

EXPECT_TRUE

(

elem->origin.

isApprox(Eigen::Isometry3d::Identity(), 1e-8)[1]

)

EXPECT_TRUE() [6/6]

EXPECT_TRUE

(

runTest< std::vector< tesseract_scene_graph::Collision::Ptr > >

elem, &tesseract_urdf::parseCollision, str, "collision", resource_locator, 2

)

Variable Documentation

elem

std::vector< tesseract_scene_graph::Visual::Ptr > elem

Initial value:

{
    std::string str = R"(<collision extra="0 0 0">
                           <origin xyz="1 2 3" rpy="0 0 0" />
                           <geometry>
                             <box size="1 2 3" />
                           </geometry>
                         </collision>)"

TESSERACT_COMMON_IGNORE_WARNINGS_POP

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP

Initial value:

{
  tesseract_common::TesseractSupportResourceLocator resource_locator