Tesseract
Motion Planning Environment
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tesseract_urdf_convex_mesh_unit.cpp File Reference
#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <Eigen/Geometry>
#include <tesseract_urdf/convex_mesh.h>
#include <tesseract_geometry/impl/convex_mesh.h>
#include <tesseract_support/tesseract_support_resource_locator.h>
#include "tesseract_urdf_common_unit.h"
Include dependency graph for tesseract_urdf_convex_mesh_unit.cpp:

Functions

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH static TESSERACT_COMMON_IGNORE_WARNINGS_POP std::string getTempPkgPath ()
 
 EXPECT_TRUE (runTest< std::vector< tesseract_geometry::ConvexMesh::Ptr > >(geom, &tesseract_urdf::parseConvexMesh, str, "convex_mesh", resource_locator, 2, false))
 
 EXPECT_TRUE (geom.size()==1)
 
 EXPECT_TRUE (geom[0]->getFaceCount()==6)
 
 EXPECT_NEAR (geom[0]->getScale()[0], 1, 1e-5)
 
 EXPECT_NEAR (geom[0]->getScale()[1], 2, 1e-5)
 
 EXPECT_NEAR (geom[0]->getScale()[2], 1, 1e-5)
 
 EXPECT_TRUE (runTest< std::vector< tesseract_geometry::ConvexMesh::Ptr > >(geom, &tesseract_urdf::parseConvexMesh, str, "convex_mesh", resource_locator, 2, true))
 
 EXPECT_TRUE (geom[0]->getFaceCount() >=6)
 
 EXPECT_NEAR (geom[0]->getScale()[1], 1, 1e-5)
 
 EXPECT_FALSE (runTest< std::vector< tesseract_geometry::ConvexMesh::Ptr > >(geom, &tesseract_urdf::parseConvexMesh, str, "convex_mesh", resource_locator, 2, false))
 

Variables

std::vector< tesseract_geometry::ConvexMesh::Ptrgeom
 

Function Documentation

◆ EXPECT_FALSE()

EXPECT_FALSE ( runTest< std::vector< tesseract_geometry::ConvexMesh::Ptr > >  geom, &tesseract_urdf::parseConvexMesh, str, "convex_mesh", resource_locator, 2, false)

◆ EXPECT_NEAR() [1/4]

EXPECT_NEAR ( geom->  getScale()[0][0],
,
1e-  5 
)

◆ EXPECT_NEAR() [2/4]

EXPECT_NEAR ( geom->  getScale()[0][1],
,
1e-  5 
)

◆ EXPECT_NEAR() [3/4]

EXPECT_NEAR ( geom->  getScale()[0][1],
,
1e-  5 
)

◆ EXPECT_NEAR() [4/4]

EXPECT_NEAR ( geom->  getScale()[0][2],
,
1e-  5 
)

◆ EXPECT_TRUE() [1/5]

EXPECT_TRUE ( geom.  size() = =1)

◆ EXPECT_TRUE() [2/5]

EXPECT_TRUE ( geom->getFaceCount() >=  6[0])

◆ EXPECT_TRUE() [3/5]

EXPECT_TRUE ( geom->  getFaceCount()[0] = =6)

◆ EXPECT_TRUE() [4/5]

EXPECT_TRUE ( runTest< std::vector< tesseract_geometry::ConvexMesh::Ptr > >  geom, &tesseract_urdf::parseConvexMesh, str, "convex_mesh", resource_locator, 2, false)

◆ EXPECT_TRUE() [5/5]

EXPECT_TRUE ( runTest< std::vector< tesseract_geometry::ConvexMesh::Ptr > >  geom, &tesseract_urdf::parseConvexMesh, str, "convex_mesh", resource_locator, 2, true)

◆ getTempPkgPath()

Variable Documentation

◆ geom

Initial value:
{
std::string str =
R"(<convex_mesh filename="package://tesseract_support/meshes/box_2m.ply" scale="1 2 1" extra="0 0 0"/>)"
std::string str
Definition: tesseract_srdf_unit.cpp:925