tesseract_common_serialization_unit.cpp File Reference

Tests serialization of types in tesseract_common. More...

#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <boost/serialization/shared_ptr.hpp>
#include <boost/serialization/nvp.hpp>
#include <tesseract_common/eigen_serialization.h>
#include <tesseract_common/serialization.h>
#include <tesseract_common/unit_test_utils.h>
#include <tesseract_common/utils.h>
#include <tesseract_common/allowed_collision_matrix.h>
#include <tesseract_common/collision_margin_data.h>
#include <tesseract_common/atomic_serialization.h>
#include <tesseract_common/joint_state.h>
#include <tesseract_common/manipulator_info.h>
#include <tesseract_common/resource_locator.h>

Include dependency graph for tesseract_common_serialization_unit.cpp:

Classes
struct	ExtensionMacroTestA
struct	ExtensionMacroTestB

Functions
limits	resize (3)
	EXPECT_EQ (limits.joint_limits.rows(), 3)
	EXPECT_EQ (limits.velocity_limits.rows(), 3)
	EXPECT_EQ (limits.acceleration_limits.rows(), 3)
limits	joint_limits<< -5, 5, -5, 5, -5, 5;limits.velocity_limits=Eigen::VectorXd::Constant(3, 6);limits.acceleration_limits=Eigen::VectorXd::Constant(3, 7);tesseract_common::testSerialization< KinematicLimits > (limits, "KinematicLimits")
trajectory states	push_back (joint_state)
object	addAllowedCollision ("link_1", "link2", "reason1")
object	addAllowedCollision ("link_2", "link1", "reason2")
object	addAllowedCollision ("link_4", "link3", "reason3")
object	addAllowedCollision ("link_5", "link2", "reason4")
object joints["test"]	setIdentity ()
object joints["test"]	translate (Eigen::Vector3d(2, 4, 8))
object	setPairCollisionMargin ("link_1", "link2", 1.1)
object	setPairCollisionMargin ("link_2", "link1", 2.2)
object	setPairCollisionMargin ("link_4", "link3", 3.3)
object	setPairCollisionMargin ("link_5", "link2", -4.4)
object search_paths	insert ("path 1")
object search_paths	insert ("path 2")
object search_libraries	insert ("search_libraries 1")
object search_libraries	insert ("search_libraries 2")
object search_libraries	insert ("search_libraries 3")
	EXPECT_EQ (ext, "etax")
	EXPECT_EQ (default_ext, "trsx")
	EXPECT_EQ (ext, "etab")
	EXPECT_EQ (default_ext, "trsb")
int	main (int argc, char **argv)

Variables
joint_state	joint_names = { "joint_1", "joint_2", "joint_3" }
joint_state	position = Eigen::VectorXd::Constant(3, 5)
joint_state	velocity = Eigen::VectorXd::Constant(3, 6)
joint_state	acceleration = Eigen::VectorXd::Constant(3, 7)
joint_state	effort = Eigen::VectorXd::Constant(3, 8)
joint_state	time = 100
JointTrajectory	trajectory
trajectory	description = "this is a test"
tesseract_common::testSerialization< AllowedCollisionMatrix > *	object
PluginInfo	plugin
plugin	class_name = "test_class_name"
plugin	config ["test"] = "value"
object discrete_plugin_infos	default_plugin = "test_string"
object discrete_plugin_infos	plugins ["plugin_key"] = plugin
object	value = true
std::string	default_ext = tesseract_common::serialization::xml::extension<ExtensionMacroTestB>::value

Detailed Description

Tests serialization of types in tesseract_common.

Author

Levi Armstrong

Matthew Powelson

Date

March 16, 2022

Version

TODO

Bug:

No known bugs

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

addAllowedCollision() [1/4]

object addAllowedCollision	(	"link_1"	,
		"link2"	,
		"reason1"
	)

addAllowedCollision() [2/4]

object addAllowedCollision	(	"link_2"	,
		"link1"	,
		"reason2"
	)

addAllowedCollision() [3/4]

object addAllowedCollision	(	"link_4"	,
		"link3"	,
		"reason3"
	)

addAllowedCollision() [4/4]

object addAllowedCollision	(	"link_5"	,
		"link2"	,
		"reason4"
	)

EXPECT_EQ() [1/7]

EXPECT_EQ	(	default_ext	,
		"trsb"
	)

EXPECT_EQ() [2/7]

EXPECT_EQ	(	default_ext	,
		"trsx"
	)

EXPECT_EQ() [3/7]

EXPECT_EQ	(	ext	,
		"etab"
	)

EXPECT_EQ() [4/7]

EXPECT_EQ	(	ext	,
		"etax"
	)

EXPECT_EQ() [5/7]

EXPECT_EQ	(	limits.acceleration_limits.	rows(),
		3
	)

EXPECT_EQ() [6/7]

EXPECT_EQ	(	limits.joint_limits.	rows(),
		3
	)

EXPECT_EQ() [7/7]

EXPECT_EQ	(	limits.velocity_limits.	rows(),
		3
	)

insert() [1/5]

object search_paths insert

(

"path 1"

)

Initial value:

{
  auto object = std::make_shared<TaskComposerPluginInfo>()

insert() [2/5]

object search_paths insert

(

"path 2"

)

insert() [3/5]

object search_libraries insert

(

"search_libraries 1"

)

insert() [4/5]

object search_libraries insert

(

"search_libraries 2"

)

insert() [5/5]

object search_libraries insert

(

"search_libraries 3"

)

joint_limits<< -5, 5, -5, 5, -5, 5;limits.velocity_limits=Eigen::VectorXd::Constant(3, 6);limits.acceleration_limits=Eigen::VectorXd::Constant(3, 7);tesseract_common::testSerialization< KinematicLimits >()

limits joint_limits<< -5, 5, -5, 5, -5, 5;limits.velocity_limits=Eigen::VectorXd::Constant(3, 6);limits.acceleration_limits=Eigen::VectorXd::Constant(3, 7);tesseract_common::testSerialization< KinematicLimits >	(	limits	,
		"KinematicLimits"
	)

main()

int main	(	int	argc,
		char **	argv
	)

push_back()

trajectory states push_back

(

joint_state

)

resize()

limits resize

(

3

)

setIdentity()

pose setIdentity

(

)

Initial value:

{
  
  Eigen::Isometry3d pose

setPairCollisionMargin() [1/4]

object setPairCollisionMargin	(	"link_1"	,
		"link2"	,
		1.	1
	)

setPairCollisionMargin() [2/4]

object setPairCollisionMargin	(	"link_2"	,
		"link1"	,
		2.	2
	)

setPairCollisionMargin() [3/4]

object setPairCollisionMargin	(	"link_4"	,
		"link3"	,
		3.	3
	)

setPairCollisionMargin() [4/4]

object setPairCollisionMargin	(	"link_5"	,
		"link2"	,
		-4.	4
	)

translate()

object joints["test"] translate

(

Eigen::Vector3d(2, 4, 8)

)

Variable Documentation

acceleration

joint_state acceleration = Eigen::VectorXd::Constant(3, 7)

class_name

plugin class_name = "test_class_name"

config

plugin config["test"] = "value"

default_ext

std::string default_ext = tesseract_common::serialization::xml::extension<ExtensionMacroTestB>::value

default_plugin

object default_plugin = "test_string"

description

trajectory description = "this is a test"

effort

joint_1 limits effort = Eigen::VectorXd::Constant(3, 8)

joint_names

std::vector< std::string > joint_names = { "joint_1", "joint_2", "joint_3" }

object

tesseract_common::testSerialization< SceneState > * object

Initial value:

{
  auto object = std::make_shared<AllowedCollisionMatrix>()

plugin

auto plugin

Initial value:

{
    PluginInfoContainer container

plugins

object plugins = plugin

position

joint_state position = Eigen::VectorXd::Constant(3, 5)

time

joint_state time = 100

trajectory

JointTrajectory trajectory

value

object value = true

velocity

joint_1 limits velocity = Eigen::VectorXd::Constant(3, 6)