#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::Ptr >	geom

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],
		1	,
		1e-	5
	)

◆ EXPECT_NEAR() [2/4]

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

◆ EXPECT_NEAR() [3/4]

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

◆ EXPECT_NEAR() [4/4]

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

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH static TESSERACT_COMMON_IGNORE_WARNINGS_POP std::string getTempPkgPath ( )

static

Variable Documentation

◆ geom

std::vector<tesseract_geometry::ConvexMesh::Ptr> 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"/>)"

Functions

Variables