tesseract_scene_graph_link_unit.cpp File Reference

#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <iostream>
#include <fstream>
#include <tesseract_geometry/geometries.h>
#include <tesseract_common/utils.h>
#include <tesseract_scene_graph/graph.h>

Include dependency graph for tesseract_scene_graph_link_unit.cpp:

Functions
Material	m ("test_material")
	EXPECT_EQ (m.getName(), "test_material")
	EXPECT_TRUE (m.texture_filename.empty())
	EXPECT_TRUE (m.color.isApprox(Eigen::Vector4d(0.5, 0.5, 0.5, 1.0)))
m	clear ()
	EXPECT_TRUE (m.origin.isApprox(Eigen::Isometry3d::Identity()))
	EXPECT_NEAR (m.mass, 0, 1e-6)
m origin	translation ()
	EXPECT_TRUE (m.material==DEFAULT_TESSERACT_MATERIAL)
	EXPECT_TRUE (m.name.empty())
Link	l ("test_link")
	EXPECT_EQ (l.getName(), "test_link")
l visual	push_back (v)
l collision	push_back (c)
	EXPECT_EQ (l_clone.getName(), "test_link")
	EXPECT_TRUE (l_clone.inertial !=l.inertial)
	EXPECT_TRUE (l_clone.inertial->origin.isApprox(l.inertial->origin))
	EXPECT_NEAR (l_clone.inertial->mass, 1, 1e-6)
	EXPECT_NEAR (l_clone.inertial->ixx, 5, 1e-6)
	EXPECT_EQ (l_clone.visual.size(), 1)
	EXPECT_TRUE (l_clone.visual.front() !=v)
	EXPECT_TRUE (l_clone.visual.front() ->origin.isApprox(l.visual.front() ->origin))
	EXPECT_TRUE (l_clone.visual.front() ->material==l.visual.front() ->material)
	EXPECT_EQ (l_clone.collision.size(), 1)
	EXPECT_TRUE (l_clone.collision.front() !=c)
	EXPECT_TRUE (l_clone.collision.front() ->origin.isApprox(l.collision.front() ->origin))
	EXPECT_TRUE (l_clone.collision.front() ->geometry==l.collision.front() ->geometry)
	EXPECT_TRUE (l.visual.empty())
	EXPECT_TRUE (l.collision.empty())
	EXPECT_TRUE (l.inertial==nullptr)
int	main (int argc, char **argv)

Variables
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH	TESSERACT_COMMON_IGNORE_WARNINGS_POP
m	texture_filename = "test.png"
m	color = Eigen::Vector4d(1.0, 1.0, 1.0, 1.0)
Inertial	m
m	mass = 1
m	ixx = 5
m	ixy = 5
m	ixz = 5
m	iyy = 5
m	iyz = 5
m	izz = 5
m	material = std::make_shared<Material>("test_material")
m	geometry = std::make_shared<tesseract_geometry::Box>(1, 1, 1)
m	name = "test_visual"
l	inertial = std::make_shared<Inertial>()
Visual::Ptr	v = std::make_shared<Visual>()
Collision::Ptr	c = std::make_shared<Collision>()
Link	l_clone = l.clone()

Function Documentation

clear()

m clear

(

)

EXPECT_EQ() [1/5]

EXPECT_EQ	(	l.	getName(),
		"test_link"
	)

EXPECT_EQ() [2/5]

EXPECT_EQ	(	l_clone.collision.	size(),
		1
	)

EXPECT_EQ() [3/5]

EXPECT_EQ	(	l_clone.	getName(),
		"test_link"
	)

EXPECT_EQ() [4/5]

EXPECT_EQ	(	l_clone.visual.	size(),
		1
	)

EXPECT_EQ() [5/5]

EXPECT_EQ	(	m.	getName(),
		"test_material"
	)

EXPECT_NEAR() [1/3]

EXPECT_NEAR	(	l_clone.inertial->	ixx,
		5	,
		1e-	6
	)

EXPECT_NEAR() [2/3]

EXPECT_NEAR	(	l_clone.inertial->	mass,
		1	,
		1e-	6
	)

EXPECT_NEAR() [3/3]

EXPECT_NEAR	(	m.	mass,
		0	,
		1e-	6
	)

EXPECT_TRUE() [1/16]

EXPECT_TRUE

(

l.collision.

empty()

)

EXPECT_TRUE() [2/16]

EXPECT_TRUE

(

l.

inertial = =nullptr

)

EXPECT_TRUE() [3/16]

EXPECT_TRUE

(

l.visual.

empty()

)

EXPECT_TRUE() [4/16]

EXPECT_TRUE

(

l_clone.collision.front() !

= c

)

EXPECT_TRUE() [5/16]

EXPECT_TRUE

(

l_clone.collision.front() ->

geometry = =l.collision.front() ->geometry

)

EXPECT_TRUE() [6/16]

EXPECT_TRUE

(

l_clone.collision.

front) ->origin.isApprox(l.collision.front() ->origin

)

EXPECT_TRUE() [7/16]

EXPECT_TRUE

(

l_clone.inertial !

= l.inertial

)

EXPECT_TRUE() [8/16]

EXPECT_TRUE

(

l_clone.inertial->origin.

isApproxl.inertial->origin

)

EXPECT_TRUE() [9/16]

EXPECT_TRUE

(

l_clone.visual.front() !

= v

)

EXPECT_TRUE() [10/16]

EXPECT_TRUE

(

l_clone.visual.front() ->

material = =l.visual.front() ->material

)

EXPECT_TRUE() [11/16]

EXPECT_TRUE

(

l_clone.visual.

front) ->origin.isApprox(l.visual.front() ->origin

)

EXPECT_TRUE() [12/16]

EXPECT_TRUE

(

m.color.

isApproxEigen::Vector4d(0.5, 0.5, 0.5, 1.0)

)

EXPECT_TRUE() [13/16]

EXPECT_TRUE

(

m.

material = =DEFAULT_TESSERACT_MATERIAL

)

EXPECT_TRUE() [14/16]

EXPECT_TRUE

(

m.name.

empty()

)

EXPECT_TRUE() [15/16]

EXPECT_TRUE

(

m.origin.

isApproxEigen::Isometry3d::Identity()

)

EXPECT_TRUE() [16/16]

EXPECT_TRUE

(

m.texture_filename.

empty()

)

l()

Link l

(

"test_link"

)

m()

Material m

(

"test_material"

)

main()

int main	(	int	argc,
		char **	argv
	)

push_back() [1/2]

l collision push_back

(

c

)

push_back() [2/2]

l visual push_back

(

v

)

translation()

m origin translation

(

)

Variable Documentation

c

Collision::Ptr c = std::make_shared<Collision>()

color

v material color = Eigen::Vector4d(1.0, 1.0, 1.0, 1.0)

geometry

col geometry = std::make_shared<tesseract_geometry::Box>(1, 1, 1)

inertial

l inertial = std::make_shared<Inertial>()

ixx

l inertial ixx = 5

ixy

l inertial ixy = 5

ixz

l inertial ixz = 5

iyy

l inertial iyy = 5

iyz

l inertial iyz = 5

izz

l inertial izz = 5

l_clone

Link l_clone = l.clone()

m

Collision m

Initial value:

{
  using namespace tesseract_scene_graph

mass

l inertial mass = 1

material

vis material = std::make_shared<Material>("test_material")

name

col name = "test_visual"

TESSERACT_COMMON_IGNORE_WARNINGS_POP

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP

Initial value:

{
  using namespace tesseract_scene_graph

texture_filename

m texture_filename = "test.png"

v

Visual::Ptr v = std::make_shared<Visual>()