tesseract_collision::test_suite Namespace Reference

Namespaces
namespace	detail

Classes
struct	DiscreteBenchmarkInfo
	Contains the information necessary to run the benchmarks for discrete collision checking. More...

Functions
static void	BM_LARGE_DATASET_MULTILINK (benchmark::State &state, DiscreteContactManager::Ptr checker, int edge_size, tesseract_geometry::GeometryType type)
	Benchmark that checks collisions between a lot of objects. In this case it is a grid of spheres - each as its own link. More...
static void	BM_LARGE_DATASET_SINGLELINK (benchmark::State &state, DiscreteContactManager::Ptr checker, int edge_size, tesseract_geometry::GeometryType type)
	Benchmark that checks collisions between a lot of objects. In this case it is a grid of spheres in one link and a single sphere in another link. More...
static void	BM_CLONE (benchmark::State &state, DiscreteBenchmarkInfo info, std::size_t num_obj)
	Benchmark that checks the clone method in discrete contact managers. More...
static void	BM_CONTACT_TEST (benchmark::State &state, DiscreteBenchmarkInfo info)
	Benchmark that checks the contactTest function in discrete contact managers. More...
static void	BM_SELECT_RANDOM_OBJECT (benchmark::State &state, int num_obj)
	Benchmark that checks how long it takes to select a random object so that number can be subtracted from other benchmarks if that is important. More...
static void	BM_SET_COLLISION_OBJECTS_TRANSFORM_SINGLE (benchmark::State &state, DiscreteBenchmarkInfo info, std::size_t num_obj)
	Benchmark that checks the setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose) method in discrete contact managers. More...
static void	BM_SET_COLLISION_OBJECTS_TRANSFORM_VECTOR (benchmark::State &state, DiscreteBenchmarkInfo info, std::size_t num_obj)
	Benchmark that checks the setCollisionObjectsTransform(const std::vector<std::string>& names, const tesseract_common::VectorIsometry3d& poses) method in discrete contact managers. Moves only a single random link. More...
static void	BM_SET_COLLISION_OBJECTS_TRANSFORM_MAP (benchmark::State &state, DiscreteBenchmarkInfo info, std::size_t num_obj)
	Benchmark that checks the setCollisionObjectsTransform(const tesseract_common::TransformMap& transforms) method in discrete contact managers. Moves only a single random link. More...
void	runTest (ContinuousContactManager &checker)
void	runTest (DiscreteContactManager &checker, bool use_convex_mesh=false)
void	runTest (DiscreteContactManager &checker)
void	runTest (DiscreteContactManager &checker, double dist_tol=0.001, double nearest_tol=0.001, double normal_tol=0.001)
void	runTest (DiscreteContactManager &checker, bool use_convex_mesh=false, int num_interations=10)
void	runTest (DiscreteContactManager &checker, const std::string &file_path)
void	runTest (DiscreteContactManager &checker, double tol, bool use_convex_mesh)
void	runTest (ContinuousContactManager &checker, bool use_convex_mesh)

Function Documentation

BM_CLONE()

static void tesseract_collision::test_suite::BM_CLONE ( benchmark::State &  state, DiscreteBenchmarkInfo  info, std::size_t  num_obj  )

static

Benchmark that checks the clone method in discrete contact managers.

BM_CONTACT_TEST()

static void tesseract_collision::test_suite::BM_CONTACT_TEST ( benchmark::State &  state, DiscreteBenchmarkInfo  info  )

static

Benchmark that checks the contactTest function in discrete contact managers.

BM_LARGE_DATASET_MULTILINK()

static void tesseract_collision::test_suite::BM_LARGE_DATASET_MULTILINK ( benchmark::State &  state, DiscreteContactManager::Ptr  checker, int  edge_size, tesseract_geometry::GeometryType  type  )

static

Benchmark that checks collisions between a lot of objects. In this case it is a grid of spheres - each as its own link.

BM_LARGE_DATASET_SINGLELINK()

static void tesseract_collision::test_suite::BM_LARGE_DATASET_SINGLELINK ( benchmark::State &  state, DiscreteContactManager::Ptr  checker, int  edge_size, tesseract_geometry::GeometryType  type  )

static

Benchmark that checks collisions between a lot of objects. In this case it is a grid of spheres in one link and a single sphere in another link.

BM_SELECT_RANDOM_OBJECT()

static void tesseract_collision::test_suite::BM_SELECT_RANDOM_OBJECT ( benchmark::State &  state, int  num_obj  )

static

Benchmark that checks how long it takes to select a random object so that number can be subtracted from other benchmarks if that is important.

BM_SET_COLLISION_OBJECTS_TRANSFORM_MAP()

static void tesseract_collision::test_suite::BM_SET_COLLISION_OBJECTS_TRANSFORM_MAP ( benchmark::State &  state, DiscreteBenchmarkInfo  info, std::size_t  num_obj  )

static

Benchmark that checks the setCollisionObjectsTransform(const tesseract_common::TransformMap& transforms) method in discrete contact managers. Moves only a single random link.

BM_SET_COLLISION_OBJECTS_TRANSFORM_SINGLE()

static void tesseract_collision::test_suite::BM_SET_COLLISION_OBJECTS_TRANSFORM_SINGLE ( benchmark::State &  state, DiscreteBenchmarkInfo  info, std::size_t  num_obj  )

static

Benchmark that checks the setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose) method in discrete contact managers.

BM_SET_COLLISION_OBJECTS_TRANSFORM_VECTOR()

static void tesseract_collision::test_suite::BM_SET_COLLISION_OBJECTS_TRANSFORM_VECTOR ( benchmark::State &  state, DiscreteBenchmarkInfo  info, std::size_t  num_obj  )

static

Benchmark that checks the setCollisionObjectsTransform(const std::vector<std::string>& names, const tesseract_common::VectorIsometry3d& poses) method in discrete contact managers. Moves only a single random link.

runTest() [1/8]

void tesseract_collision::test_suite::runTest ( ContinuousContactManager &  checker )

inline

runTest() [2/8]

void tesseract_collision::test_suite::runTest ( ContinuousContactManager &  checker, bool  use_convex_mesh  )

inline

runTest() [3/8]

void tesseract_collision::test_suite::runTest ( DiscreteContactManager &  checker )

inline

runTest() [4/8]

void tesseract_collision::test_suite::runTest ( DiscreteContactManager &  checker, bool  use_convex_mesh = false  )

inline

runTest() [5/8]

void tesseract_collision::test_suite::runTest ( DiscreteContactManager &  checker, bool  use_convex_mesh = false, int  num_interations = 10  )

inline

runTest() [6/8]

void tesseract_collision::test_suite::runTest ( DiscreteContactManager &  checker, const std::string &  file_path  )

inline

runTest() [7/8]

void tesseract_collision::test_suite::runTest ( DiscreteContactManager &  checker, double  dist_tol = 0.001, double  nearest_tol = 0.001, double  normal_tol = 0.001  )

inline

runTest() [8/8]

void tesseract_collision::test_suite::runTest ( DiscreteContactManager &  checker, double  tol, bool  use_convex_mesh  )

inline