collision_margin_data_unit.cpp File Reference

#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <numeric>
#include <tesseract_collision/core/types.h>

Include dependency graph for collision_margin_data_unit.cpp:

Functions
	EXPECT_NEAR (data.getDefaultCollisionMargin(), 0, tol)
	EXPECT_NEAR (data.getPairCollisionMargin("link_1", "link_2"), 0, tol)
	EXPECT_EQ (data.getPairCollisionMargins().size(), 0)
	EXPECT_NEAR (data.getDefaultCollisionMargin(), default_margin, tol)
	EXPECT_NEAR (data.getPairCollisionMargin("link_1", "link_2"), default_margin, tol)
data	setDefaultCollisionMargin (default_margin)
data	setPairCollisionMargin ("link_1", "link_2", pair_margin)
	EXPECT_NEAR (data.getMaxCollisionMargin(), pair_margin, tol)
	EXPECT_NEAR (data.getPairCollisionMargin("link_1", "link_2"), pair_margin, tol)
	EXPECT_EQ (data.getPairCollisionMargins().size(), 1)
data	setPairCollisionMargin ("link_1", "link_2", default_margin)
data	incrementMargins (increment)
	EXPECT_NEAR (data.getDefaultCollisionMargin(), default_margin+increment, tol)
	EXPECT_NEAR (data.getMaxCollisionMargin(), pair_margin+increment, tol)
	EXPECT_NEAR (data.getPairCollisionMargin("link_1", "link_2"), pair_margin+increment, tol)
data	scaleMargins (scale)
	EXPECT_NEAR (data.getDefaultCollisionMargin(), default_margin *scale, tol)
	EXPECT_NEAR (data.getMaxCollisionMargin(), pair_margin *scale, tol)
	EXPECT_NEAR (data.getPairCollisionMargin("link_1", "link_2"), pair_margin *scale, tol)
data	apply (override_data, CollisionMarginOverrideType::OVERRIDE_DEFAULT_MARGIN)
CollisionMarginData	override_data (default_margin *3)
data	apply (override_data, CollisionMarginOverrideType::OVERRIDE_PAIR_MARGIN)
data	apply (override_data, CollisionMarginOverrideType::REPLACE)
override_data	setPairCollisionMargin ("link_1", "link_2", pair_margin *3)
data	apply (override_data, CollisionMarginOverrideType::NONE)
override_data	setPairCollisionMargin ("link_1", "link_3", pair_margin *3)
data	apply (override_data, CollisionMarginOverrideType::MODIFY)
	EXPECT_NEAR (data.getPairCollisionMargin("link_1", "link_3"), pair_margin *3, tol)
	EXPECT_EQ (data.getPairCollisionMargins().size(), 2)
data	apply (override_data, CollisionMarginOverrideType::MODIFY_PAIR_MARGIN)
int	main (int argc, char **argv)

Variables
CollisionMarginData	data (default_margin)
double	pair_margin = 0.5
	default_margin = 2 * pair_margin
double	increment = 0.01
double	scale = 1.5
CollisionMarginData	override_data (default_margin)

Function Documentation

apply() [1/6]

data apply	(	override_data	,
		CollisionMarginOverrideType::MODIFY
	)

apply() [2/6]

data apply	(	override_data	,
		CollisionMarginOverrideType::MODIFY_PAIR_MARGIN
	)

apply() [3/6]

data apply	(	override_data	,
		CollisionMarginOverrideType::NONE
	)

apply() [4/6]

data apply	(	override_data	,
		CollisionMarginOverrideType::OVERRIDE_DEFAULT_MARGIN
	)

apply() [5/6]

data apply	(	override_data	,
		CollisionMarginOverrideType::OVERRIDE_PAIR_MARGIN
	)

apply() [6/6]

data apply	(	override_data	,
		CollisionMarginOverrideType::REPLACE
	)

EXPECT_EQ() [1/3]

EXPECT_EQ	(	data.	getPairCollisionMargins).size(,
		0
	)

EXPECT_EQ() [2/3]

EXPECT_EQ	(	data.	getPairCollisionMargins).size(,
		1
	)

EXPECT_EQ() [3/3]

EXPECT_EQ	(	data.	getPairCollisionMargins).size(,
		2
	)

EXPECT_NEAR() [1/13]

EXPECT_NEAR	(	data.	getDefaultCollisionMargin(),
		0	,
		tol
	)

EXPECT_NEAR() [2/13]

EXPECT_NEAR	(	data.	getDefaultCollisionMargin(),
		default_margin *	scale,
		tol
	)

EXPECT_NEAR() [3/13]

EXPECT_NEAR	(	data.	getDefaultCollisionMargin(),
		default_margin+	increment,
		tol
	)

EXPECT_NEAR() [4/13]

EXPECT_NEAR	(	data.	getDefaultCollisionMargin(),
		default_margin	,
		tol
	)

EXPECT_NEAR() [5/13]

EXPECT_NEAR	(	data.	getMaxCollisionMargin(),
		pair_margin *	scale,
		tol
	)

EXPECT_NEAR() [6/13]

EXPECT_NEAR	(	data.	getMaxCollisionMargin(),
		pair_margin+	increment,
		tol
	)

EXPECT_NEAR() [7/13]

EXPECT_NEAR	(	data.	getMaxCollisionMargin(),
		pair_margin	,
		tol
	)

EXPECT_NEAR() [8/13]

EXPECT_NEAR	(	data.	getPairCollisionMargin"link_1", "link_2",
		0	,
		tol
	)

EXPECT_NEAR() [9/13]

EXPECT_NEAR	(	data.	getPairCollisionMargin"link_1", "link_2",
		default_margin	,
		tol
	)

EXPECT_NEAR() [10/13]

EXPECT_NEAR	(	data.	getPairCollisionMargin"link_1", "link_2",
		pair_margin *	scale,
		tol
	)

EXPECT_NEAR() [11/13]

EXPECT_NEAR	(	data.	getPairCollisionMargin"link_1", "link_2",
		pair_margin+	increment,
		tol
	)

EXPECT_NEAR() [12/13]

EXPECT_NEAR	(	data.	getPairCollisionMargin"link_1", "link_2",
		pair_margin	,
		tol
	)

EXPECT_NEAR() [13/13]

EXPECT_NEAR	(	data.	getPairCollisionMargin"link_1", "link_3",
		pair_margin *	3,
		tol
	)

incrementMargins()

data incrementMargins

(

increment

)

main()

int main	(	int	argc,
		char **	argv
	)

override_data()

CollisionMarginData override_data

(

default_margin *

3

)

scaleMargins()

data scaleMargins

(

scale

)

setDefaultCollisionMargin()

data setDefaultCollisionMargin

(

default_margin

)

setPairCollisionMargin() [1/4]

data setPairCollisionMargin	(	"link_1"	,
		"link_2"	,
		default_margin
	)

setPairCollisionMargin() [2/4]

override_data setPairCollisionMargin	(	"link_1"	,
		"link_2"	,
		pair_margin *	3
	)

setPairCollisionMargin() [3/4]

override_data setPairCollisionMargin	(	"link_1"	,
		"link_2"	,
		pair_margin
	)

setPairCollisionMargin() [4/4]

override_data setPairCollisionMargin	(	"link_1"	,
		"link_3"	,
		pair_margin *	3
	)

Variable Documentation

data

CollisionMarginData data

(

default_margin

)

Initial value:

{  
    double default_margin = 0.0254

default_margin

default_margin = 2 * pair_margin

increment

double increment = 0.01

override_data

CollisionMarginData override_data

(

default_margin

)

pair_margin

double pair_margin = 0.5

scale

double scale = 1.5