tesseract_urdf_material_unit.cpp File Reference

#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <Eigen/Geometry>
#include <tesseract_urdf/urdf_parser.h>
#include <tesseract_common/utils.h>
#include <tesseract_urdf/material.h>
#include "tesseract_urdf_common_unit.h"

Include dependency graph for tesseract_urdf_material_unit.cpp:

Functions
	EXPECT_TRUE (runTest< tesseract_scene_graph::Material::Ptr >(elem, &tesseract_urdf::parseMaterial, str, "material", empty_available_materials, 2, true))
	EXPECT_TRUE (elem->getName()=="test_material")
	EXPECT_TRUE (elem->color.isApprox(Eigen::Vector4d(1,.5,.5, 1), 1e-8))
	EXPECT_TRUE (elem->texture_filename==tesseract_common::getTempPath()+"texture.txt")
	EXPECT_TRUE (elem->texture_filename.empty())
	EXPECT_TRUE (runTest< tesseract_scene_graph::Material::Ptr >(elem, &tesseract_urdf::parseMaterial, str, "material", available_materials, 2, true))
	EXPECT_FALSE (runTest< tesseract_scene_graph::Material::Ptr >(elem, &tesseract_urdf::parseMaterial, str, "material", empty_available_materials, 2, true))
	EXPECT_FALSE (runTest< tesseract_scene_graph::Material::Ptr >(elem, &tesseract_urdf::parseMaterial, str, "material", available_materials, 2, true))

Variables
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH	TESSERACT_COMMON_IGNORE_WARNINGS_POP
m	color = Eigen::Vector4d(1, .5, .5, 1)
m	texture_filename = tesseract_common::getTempPath() + "texture.txt"
std::unordered_map< std::string, tesseract_scene_graph::Material::Ptr >	available_materials
std::string	str
tesseract_scene_graph::Material::Ptr	elem

Function Documentation

EXPECT_FALSE() [1/2]

EXPECT_FALSE

(

runTest< tesseract_scene_graph::Material::Ptr >

elem, &tesseract_urdf::parseMaterial, str, "material", available_materials, 2, true

)

EXPECT_FALSE() [2/2]

EXPECT_FALSE

(

runTest< tesseract_scene_graph::Material::Ptr >

elem, &tesseract_urdf::parseMaterial, str, "material", empty_available_materials, 2, true

)

EXPECT_TRUE() [1/6]

EXPECT_TRUE

(

elem->color.

isApproxEigen::Vector4d(1,.5,.5, 1), 1e-8

)

EXPECT_TRUE() [2/6]

EXPECT_TRUE

(

elem->

getName() = ="test_material"

)

EXPECT_TRUE() [3/6]

EXPECT_TRUE

(

elem->texture_filename.

empty()

)

EXPECT_TRUE() [4/6]

EXPECT_TRUE

(

elem->

texture_filename = =tesseract_common::getTempPath()+"texture.txt"

)

EXPECT_TRUE() [5/6]

EXPECT_TRUE

(

runTest< tesseract_scene_graph::Material::Ptr >

elem, &tesseract_urdf::parseMaterial, str, "material", available_materials, 2, true

)

EXPECT_TRUE() [6/6]

EXPECT_TRUE

(

runTest< tesseract_scene_graph::Material::Ptr >

elem, &tesseract_urdf::parseMaterial, str, "material", empty_available_materials, 2, true

)

Variable Documentation

available_materials

std::unordered_map< std::string, tesseract_scene_graph::Material::Ptr > available_materials

Initial value:

{
    std::unordered_map<std::string, tesseract_scene_graph::Material::Ptr> empty_available_materials

color

m color = Eigen::Vector4d(1, .5, .5, 1)

elem

tesseract_scene_graph::Material::Ptr elem

str

std::string str

Initial value:

= R"(<material name="test_material" extra="0 0 0">
                           <color rgba="1 .5 .5 1" extra="0 0 0"/>
                           <texture filename=")" +
                      m->texture_filename + R"("extra="0 0 0"/>
                         </material>)"

TESSERACT_COMMON_IGNORE_WARNINGS_POP

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP

Initial value:

{
  auto m = std::make_shared<tesseract_scene_graph::Material>("test_material")

texture_filename

m texture_filename = tesseract_common::getTempPath() + "texture.txt"