tesseract_geometry_unit.cpp File Reference

#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <algorithm>
#include <memory>
#include <octomap/octomap.h>
#include <tesseract_geometry/geometries.h>
#include <tesseract_geometry/mesh_parser.h>

Include dependency graph for tesseract_geometry_unit.cpp:

Classes
struct	TestPointCloud
struct	TestPointCloud::point

Typedefs
using	T = tesseract_geometry::PolygonMesh

Functions
	EXPECT_NEAR (geom->getX(), 1, 1e-5)
	EXPECT_NEAR (std::static_pointer_cast< T >(geom_clone) ->getX(), 1, 1e-5)
	EXPECT_NEAR (std::static_pointer_cast< T >(geom_clone) ->getY(), 1, 1e-5)
	EXPECT_NEAR (std::static_pointer_cast< T >(geom_clone) ->getZ(), 1, 1e-5)
	EXPECT_NEAR (std::static_pointer_cast< T >(geom_clone) ->getRadius(), 1, 1e-5)
	EXPECT_NEAR (std::static_pointer_cast< T >(geom_clone) ->getLength(), 1, 1e-5)
	EXPECT_NEAR (std::static_pointer_cast< T >(geom_clone) ->getA(), 1, 1e-5)
	EXPECT_NEAR (std::static_pointer_cast< T >(geom_clone) ->getB(), 1, 1e-5)
	EXPECT_NEAR (std::static_pointer_cast< T >(geom_clone) ->getC(), 1, 1e-5)
	EXPECT_NEAR (std::static_pointer_cast< T >(geom_clone) ->getD(), 1, 1e-5)
vertices	emplace_back (1, 1, 0)
vertices	emplace_back (1, -1, 0)
vertices	emplace_back (-1, -1, 0)
faces	resize (5)
	EXPECT_TRUE (geom->getVertices() !=nullptr)
	EXPECT_TRUE (geom->getFaces() !=nullptr)
	EXPECT_TRUE (geom->getVertexCount()==4)
	EXPECT_TRUE (std::static_pointer_cast< T >(geom_clone) ->getVertices() !=nullptr)
	EXPECT_TRUE (std::static_pointer_cast< T >(geom_clone) ->getFaces() !=nullptr)
	EXPECT_TRUE (std::static_pointer_cast< T >(geom_clone) ->getVertexCount()==4)
	EXPECT_TRUE (std::static_pointer_cast< T >(geom_clone) ->getFaceCount()==1)
faces	resize (8)
	EXPECT_TRUE (std::static_pointer_cast< T >(geom_clone) ->getMaterial()==nullptr)
	EXPECT_TRUE (geom->getMaterial() !=nullptr)
	EXPECT_TRUE (std::static_pointer_cast< T >(geom_clone) ->getMaterial() !=nullptr)
	EXPECT_TRUE (geom->getOctree() !=nullptr)
	EXPECT_TRUE (std::static_pointer_cast< T >(geom_clone) ->getOctree() !=nullptr)
	EXPECT_TRUE (std::static_pointer_cast< T >(geom_clone) ->getSubType()==tesseract_geometry::Octree::SubType::BOX)
	EXPECT_TRUE (meshes.size()==1)
	EXPECT_TRUE (meshes[0]->getFaceCount()==80)
	EXPECT_TRUE (meshes[1]->getFaceCount()==80)
	EXPECT_TRUE (convex_meshes.size()==1)
	EXPECT_TRUE (convex_meshes[0]->getFaceCount()==6)
int	main (int argc, char **argv)

Variables
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH	TESSERACT_COMMON_IGNORE_WARNINGS_POP
std::shared_ptr< const Eigen::VectorXi >	faces = std::make_shared<const Eigen::VectorXi>()
auto	box = std::make_shared<tesseract_geometry::Box>(1, 1, 1)
auto	cone = std::make_shared<tesseract_geometry::Cone>(1, 1)
auto	cylinder = std::make_shared<tesseract_geometry::Cylinder>(1, 1)
auto	capsule = std::make_shared<tesseract_geometry::Capsule>(1, 1)
auto	plane = std::make_shared<tesseract_geometry::Plane>(1, 1, 1, 1)
auto	sphere = std::make_shared<tesseract_geometry::Sphere>(1)
auto	convex_mesh = std::make_shared<tesseract_geometry::ConvexMesh>(vertices, faces)
auto	mesh = std::make_shared<tesseract_geometry::Mesh>(vertices, faces)
auto	sdf_mesh = std::make_shared<tesseract_geometry::SDFMesh>(vertices, faces)
auto	octree = std::make_shared<tesseract_geometry::Octree>(nullptr, tesseract_geometry::Octree::SubType::BOX)
TestPointCloud	pc
auto	octree_pc
auto	geom = std::make_shared<T>(1, 1, 1)
auto	geom_clone = geom->clone()
std::string	mesh_file = std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.stl"
std::vector< Mesh::Ptr >	meshes = createMeshFromPath<Mesh>(mesh_file)
std::vector< ConvexMesh::Ptr >	convex_meshes

Typedef Documentation

T

typedef tesseract_geometry::SDFMesh T

Function Documentation

emplace_back() [1/3]

vertices emplace_back	(	-	1,
		-	1,
		0
	)

emplace_back() [2/3]

vertices emplace_back	(	1	,
		-	1,
		0
	)

emplace_back() [3/3]

vertices emplace_back	(	1	,
		1	,
		0
	)

Initial value:

{
  auto vertices = std::make_shared<tesseract_common::VectorVector3d>()

EXPECT_NEAR() [1/10]

EXPECT_NEAR	(	geom->	getX(),
		1	,
		1e-	5
	)

EXPECT_NEAR() [2/10]

EXPECT_NEAR	(	std::static_pointer_cast< T >	geom_clone) ->getA(,
		1	,
		1e-	5
	)

EXPECT_NEAR() [3/10]

EXPECT_NEAR	(	std::static_pointer_cast< T >	geom_clone) ->getB(,
		1	,
		1e-	5
	)

EXPECT_NEAR() [4/10]

EXPECT_NEAR	(	std::static_pointer_cast< T >	geom_clone) ->getC(,
		1	,
		1e-	5
	)

EXPECT_NEAR() [5/10]

EXPECT_NEAR	(	std::static_pointer_cast< T >	geom_clone) ->getD(,
		1	,
		1e-	5
	)

EXPECT_NEAR() [6/10]

EXPECT_NEAR	(	std::static_pointer_cast< T >	geom_clone) ->getLength(,
		1	,
		1e-	5
	)

EXPECT_NEAR() [7/10]

EXPECT_NEAR	(	std::static_pointer_cast< T >	geom_clone) ->getRadius(,
		1	,
		1e-	5
	)

EXPECT_NEAR() [8/10]

EXPECT_NEAR	(	std::static_pointer_cast< T >	geom_clone) ->getX(,
		1	,
		1e-	5
	)

EXPECT_NEAR() [9/10]

EXPECT_NEAR	(	std::static_pointer_cast< T >	geom_clone) ->getY(,
		1	,
		1e-	5
	)

EXPECT_NEAR() [10/10]

EXPECT_NEAR	(	std::static_pointer_cast< T >	geom_clone) ->getZ(,
		1	,
		1e-	5
	)

EXPECT_TRUE() [1/18]

EXPECT_TRUE

(

convex_meshes.

size() = =1

)

EXPECT_TRUE() [2/18]

EXPECT_TRUE

(

convex_meshes->

getFaceCount()[0] = =6

)

EXPECT_TRUE() [3/18]

EXPECT_TRUE

(

geom->getFaces() !

= nullptr

)

EXPECT_TRUE() [4/18]

EXPECT_TRUE

(

geom->getMaterial() !

= nullptr

)

EXPECT_TRUE() [5/18]

EXPECT_TRUE

(

geom->getOctree() !

= nullptr

)

EXPECT_TRUE() [6/18]

EXPECT_TRUE

(

geom->

getVertexCount() = =4

)

EXPECT_TRUE() [7/18]

EXPECT_TRUE

(

geom->getVertices() !

= nullptr

)

Initial value:

{
    auto geom = std::make_shared<T>(vertices, faces)

EXPECT_TRUE() [8/18]

EXPECT_TRUE

(

meshes.

size() = =1

)

EXPECT_TRUE() [9/18]

EXPECT_TRUE

(

meshes->

getFaceCount()[0] = =80

)

EXPECT_TRUE() [10/18]

EXPECT_TRUE

(

meshes->

getFaceCount()[1] = =80

)

EXPECT_TRUE() [11/18]

EXPECT_TRUE

(

std::static_pointer_cast< T >

geom_clone) ->getFaceCount( = =1

)

EXPECT_TRUE() [12/18]

EXPECT_TRUE

(

std::static_pointer_cast< T >(geom_clone) ->getFaces() !

= nullptr

)

EXPECT_TRUE() [13/18]

EXPECT_TRUE

(

std::static_pointer_cast< T >(geom_clone) ->getMaterial() !

= nullptr

)

EXPECT_TRUE() [14/18]

EXPECT_TRUE

(

std::static_pointer_cast< T >

geom_clone) ->getMaterial( = =nullptr

)

EXPECT_TRUE() [15/18]

EXPECT_TRUE

(

std::static_pointer_cast< T >(geom_clone) ->getOctree() !

= nullptr

)

EXPECT_TRUE() [16/18]

EXPECT_TRUE

(

std::static_pointer_cast< T >

geom_clone) ->getSubType( = =tesseract_geometry::Octree::SubType::BOX

)

EXPECT_TRUE() [17/18]

EXPECT_TRUE

(

std::static_pointer_cast< T >

geom_clone) ->getVertexCount( = =4

)

EXPECT_TRUE() [18/18]

EXPECT_TRUE

(

std::static_pointer_cast< T >(geom_clone) ->getVertices() !

= nullptr

)

main()

int main	(	int	argc,
		char **	argv
	)

resize() [1/2]

faces resize

(

5

)

resize() [2/2]

faces resize

(

8

)

Variable Documentation

box

auto box = std::make_shared<tesseract_geometry::Box>(1, 1, 1)

capsule

auto capsule = std::make_shared<tesseract_geometry::Capsule>(1, 1)

cone

auto cone = std::make_shared<tesseract_geometry::Cone>(1, 1)

convex_mesh

auto convex_mesh = std::make_shared<tesseract_geometry::ConvexMesh>(vertices, faces)

convex_meshes

std::vector<ConvexMesh::Ptr> convex_meshes

Initial value:

=
      createMeshFromPath<ConvexMesh>(mesh_file, Eigen::Vector3d(1, 1, 1), false, false)

cylinder

auto cylinder = std::make_shared<tesseract_geometry::Cylinder>(1, 1)

faces

(* faces)(7) = std::make_shared<const Eigen::VectorXi>()

geom

std::vector< tesseract_geometry::SDFMesh::Ptr > geom = std::make_shared<T>(1, 1, 1)

geom_clone

auto geom_clone = geom->clone()

mesh

auto mesh = std::make_shared<tesseract_geometry::Mesh>(vertices, faces)

mesh_file

mesh_file = std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.stl"

meshes

meshes = createMeshFromPath<Mesh>(mesh_file)

octree

auto octree = std::make_shared<tesseract_geometry::Octree>(nullptr, tesseract_geometry::Octree::SubType::BOX)

octree_pc

auto octree_pc

Initial value:

=
      std::make_shared<tesseract_geometry::Octree>(pc, 0.01, tesseract_geometry::Octree::SubType::BOX, false)

pc

TestPointCloud pc

plane

auto plane = std::make_shared<tesseract_geometry::Plane>(1, 1, 1, 1)

sdf_mesh

auto sdf_mesh = std::make_shared<tesseract_geometry::SDFMesh>(vertices, faces)

sphere

auto sphere = std::make_shared<tesseract_geometry::Sphere>(1)

TESSERACT_COMMON_IGNORE_WARNINGS_POP

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP

Initial value:

{
  std::shared_ptr<const tesseract_common::VectorVector3d> vertices =
      std::make_shared<const tesseract_common::VectorVector3d>()