tesseract_urdf_mesh_material_unit.cpp File Reference

#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <Eigen/Geometry>
#include <tesseract_urdf/mesh.h>
#include <tesseract_geometry/impl/mesh.h>
#include <tesseract_support/tesseract_support_resource_locator.h>
#include "tesseract_urdf_common_unit.h"

Include dependency graph for tesseract_urdf_mesh_material_unit.cpp:

Functions
	EXPECT_TRUE (runTest< std::vector< tesseract_geometry::Mesh::Ptr > >(meshes, &tesseract_urdf::parseMesh, str, "mesh", resource_locator, 2, true))
	EXPECT_TRUE (meshes.size()==4)
	EXPECT_EQ (mesh0->getFaceCount(), 34)
	EXPECT_EQ (mesh0->getVertexCount(), 68)
	EXPECT_EQ (mesh1->getFaceCount(), 15)
	EXPECT_EQ (mesh1->getVertexCount(), 17)
	EXPECT_EQ (mesh2->getFaceCount(), 15)
	EXPECT_EQ (mesh2->getVertexCount(), 17)
	EXPECT_EQ (mesh3->getFaceCount(), 2)
	EXPECT_EQ (mesh3->getVertexCount(), 4)
	ASSERT_TRUE (mesh0_normals !=nullptr)
	EXPECT_EQ (mesh0_normals->size(), 68)
	ASSERT_TRUE (mesh1_normals !=nullptr)
	EXPECT_EQ (mesh1_normals->size(), 17)
	ASSERT_TRUE (mesh2_normals !=nullptr)
	EXPECT_EQ (mesh2_normals->size(), 17)
	ASSERT_TRUE (mesh3_normals !=nullptr)
	EXPECT_EQ (mesh3_normals->size(), 4)
	EXPECT_TRUE (mesh0_material->getBaseColorFactor().isApprox(Eigen::Vector4d(0.7, 0.7, 0.7, 1), 0.01))
	EXPECT_NEAR (mesh0_material->getMetallicFactor(), 0.0, 0.01)
	EXPECT_TRUE (mesh0_material->getEmissiveFactor().isApprox(Eigen::Vector4d(0, 0, 0, 1), 0.01))
	EXPECT_TRUE (mesh1_material->getBaseColorFactor().isApprox(Eigen::Vector4d(0.8, 0, 0, 1), 0.01))
	EXPECT_NEAR (mesh1_material->getMetallicFactor(), 0.0, 0.01)
	EXPECT_TRUE (mesh1_material->getEmissiveFactor().isApprox(Eigen::Vector4d(0, 0, 0, 1), 0.01))
	EXPECT_TRUE (mesh2_material->getBaseColorFactor().isApprox(Eigen::Vector4d(0.05, 0.8, 0.05, 1), 0.01))
	EXPECT_NEAR (mesh2_material->getMetallicFactor(), 0.0, 0.01)
	EXPECT_TRUE (mesh2_material->getEmissiveFactor().isApprox(Eigen::Vector4d(0.1, 0.1, 0.5, 1), 0.01))
	EXPECT_TRUE (mesh3_material->getBaseColorFactor().isApprox(Eigen::Vector4d(1, 1, 1, 1), 0.01))
	EXPECT_NEAR (mesh3_material->getMetallicFactor(), 0, 0.01)
	EXPECT_NEAR (mesh3_material->getRoughnessFactor(), 0.5, 0.01)
	EXPECT_TRUE (mesh3_material->getEmissiveFactor().isApprox(Eigen::Vector4d(0, 0, 0, 1), 0.01))
	EXPECT_TRUE (mesh0->getTextures()==nullptr)
	EXPECT_TRUE (mesh1->getTextures()==nullptr)
	EXPECT_TRUE (mesh2->getTextures()==nullptr)
	ASSERT_TRUE (mesh3->getTextures() !=nullptr)
	ASSERT_EQ (mesh3->getTextures() ->size(), 1)
	EXPECT_EQ (texture->getTextureImage() ->getResourceContents().size(), 38212)
	EXPECT_EQ (texture->getUVs() ->size(), 4)

Variables
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH	TESSERACT_COMMON_IGNORE_WARNINGS_POP
std::vector< tesseract_geometry::Mesh::Ptr >	meshes
auto &	mesh0 = meshes[1]
auto &	mesh1 = meshes[2]
auto &	mesh2 = meshes[3]
auto &	mesh3 = meshes[0]
auto	mesh0_normals = mesh0->getNormals()
auto	mesh1_normals = mesh1->getNormals()
auto	mesh2_normals = mesh2->getNormals()
auto	mesh3_normals = mesh3->getNormals()
auto	mesh0_material = mesh0->getMaterial()
auto	mesh1_material = mesh1->getMaterial()
auto	mesh2_material = mesh2->getMaterial()
auto	mesh3_material = mesh3->getMaterial()
auto	texture = mesh3->getTextures()->at(0)

Function Documentation

ASSERT_EQ()

ASSERT_EQ	(	mesh3->	getTextures) ->size(,
		1
	)

ASSERT_TRUE() [1/5]

ASSERT_TRUE

(

mesh0_normals !

= nullptr

)

ASSERT_TRUE() [2/5]

ASSERT_TRUE

(

mesh1_normals !

= nullptr

)

ASSERT_TRUE() [3/5]

ASSERT_TRUE

(

mesh2_normals !

= nullptr

)

ASSERT_TRUE() [4/5]

ASSERT_TRUE

(

mesh3->getTextures() !

= nullptr

)

ASSERT_TRUE() [5/5]

ASSERT_TRUE

(

mesh3_normals !

= nullptr

)

EXPECT_EQ() [1/14]

EXPECT_EQ	(	mesh0->	getFaceCount(),
		34
	)

EXPECT_EQ() [2/14]

EXPECT_EQ	(	mesh0->	getVertexCount(),
		68
	)

EXPECT_EQ() [3/14]

EXPECT_EQ	(	mesh0_normals->	size(),
		68
	)

EXPECT_EQ() [4/14]

EXPECT_EQ	(	mesh1->	getFaceCount(),
		15
	)

EXPECT_EQ() [5/14]

EXPECT_EQ	(	mesh1->	getVertexCount(),
		17
	)

EXPECT_EQ() [6/14]

EXPECT_EQ	(	mesh1_normals->	size(),
		17
	)

EXPECT_EQ() [7/14]

EXPECT_EQ	(	mesh2->	getFaceCount(),
		15
	)

EXPECT_EQ() [8/14]

EXPECT_EQ	(	mesh2->	getVertexCount(),
		17
	)

EXPECT_EQ() [9/14]

EXPECT_EQ	(	mesh2_normals->	size(),
		17
	)

EXPECT_EQ() [10/14]

EXPECT_EQ	(	mesh3->	getFaceCount(),
		2
	)

EXPECT_EQ() [11/14]

EXPECT_EQ	(	mesh3->	getVertexCount(),
		4
	)

EXPECT_EQ() [12/14]

EXPECT_EQ	(	mesh3_normals->	size(),
		4
	)

EXPECT_EQ() [13/14]

EXPECT_EQ	(	texture->	getTextureImage) ->getResourceContents().size(,
		38212
	)

EXPECT_EQ() [14/14]

EXPECT_EQ	(	texture->	getUVs) ->size(,
		4
	)

EXPECT_NEAR() [1/5]

EXPECT_NEAR	(	mesh0_material->	getMetallicFactor(),
		0.	0,
		0.	01
	)

EXPECT_NEAR() [2/5]

EXPECT_NEAR	(	mesh1_material->	getMetallicFactor(),
		0.	0,
		0.	01
	)

EXPECT_NEAR() [3/5]

EXPECT_NEAR	(	mesh2_material->	getMetallicFactor(),
		0.	0,
		0.	01
	)

EXPECT_NEAR() [4/5]

EXPECT_NEAR	(	mesh3_material->	getMetallicFactor(),
		0	,
		0.	01
	)

EXPECT_NEAR() [5/5]

EXPECT_NEAR	(	mesh3_material->	getRoughnessFactor(),
		0.	5,
		0.	01
	)

EXPECT_TRUE() [1/13]

EXPECT_TRUE

(

mesh0->

getTextures() = =nullptr

)

EXPECT_TRUE() [2/13]

EXPECT_TRUE

(

mesh0_material->

getBaseColorFactor).isApprox(Eigen::Vector4d(0.7, 0.7, 0.7, 1), 0.01

)

EXPECT_TRUE() [3/13]

EXPECT_TRUE

(

mesh0_material->

getEmissiveFactor).isApprox(Eigen::Vector4d(0, 0, 0, 1), 0.01

)

EXPECT_TRUE() [4/13]

EXPECT_TRUE

(

mesh1->

getTextures() = =nullptr

)

EXPECT_TRUE() [5/13]

EXPECT_TRUE

(

mesh1_material->

getBaseColorFactor).isApprox(Eigen::Vector4d(0.8, 0, 0, 1), 0.01

)

EXPECT_TRUE() [6/13]

EXPECT_TRUE

(

mesh1_material->

getEmissiveFactor).isApprox(Eigen::Vector4d(0, 0, 0, 1), 0.01

)

EXPECT_TRUE() [7/13]

EXPECT_TRUE

(

mesh2->

getTextures() = =nullptr

)

EXPECT_TRUE() [8/13]

EXPECT_TRUE

(

mesh2_material->

getBaseColorFactor).isApprox(Eigen::Vector4d(0.05, 0.8, 0.05, 1), 0.01

)

EXPECT_TRUE() [9/13]

EXPECT_TRUE

(

mesh2_material->

getEmissiveFactor).isApprox(Eigen::Vector4d(0.1, 0.1, 0.5, 1), 0.01

)

EXPECT_TRUE() [10/13]

EXPECT_TRUE

(

mesh3_material->

getBaseColorFactor).isApprox(Eigen::Vector4d(1, 1, 1, 1), 0.01

)

EXPECT_TRUE() [11/13]

EXPECT_TRUE

(

mesh3_material->

getEmissiveFactor).isApprox(Eigen::Vector4d(0, 0, 0, 1), 0.01

)

EXPECT_TRUE() [12/13]

EXPECT_TRUE

(

meshes.

size() = =4

)

EXPECT_TRUE() [13/13]

EXPECT_TRUE

(

runTest< std::vector< tesseract_geometry::Mesh::Ptr > >

meshes, &tesseract_urdf::parseMesh, str, "mesh", resource_locator, 2, true

)

Variable Documentation

mesh0

auto& mesh0 = meshes[1]

mesh0_material

auto mesh0_material = mesh0->getMaterial()

mesh0_normals

auto mesh0_normals = mesh0->getNormals()

mesh1

auto& mesh1 = meshes[2]

mesh1_material

auto mesh1_material = mesh1->getMaterial()

mesh1_normals

auto mesh1_normals = mesh1->getNormals()

mesh2

auto& mesh2 = meshes[3]

mesh2_material

auto mesh2_material = mesh2->getMaterial()

mesh2_normals

auto mesh2_normals = mesh2->getNormals()

mesh3

auto& mesh3 = meshes[0]

mesh3_material

auto mesh3_material = mesh3->getMaterial()

mesh3_normals

auto mesh3_normals = mesh3->getNormals()

meshes

std::vector<tesseract_geometry::Mesh::Ptr> meshes

Initial value:

{
    std::string str = R"(<mesh filename="package://tesseract_support/meshes/tesseract_material_mesh.dae"/>)"

TESSERACT_COMMON_IGNORE_WARNINGS_POP

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP

Initial value:

{
  tesseract_common::TesseractSupportResourceLocator resource_locator

texture

auto texture = mesh3->getTextures()->at(0)