tesseract_environment_utils.cpp File Reference

#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <algorithm>
#include <vector>
#include <tesseract_urdf/urdf_parser.h>
#include <tesseract_common/resource_locator.h>
#include <tesseract_common/utils.h>
#include <tesseract_environment/environment.h>
#include <tesseract_environment/utils.h>
#include <tesseract_support/tesseract_support_resource_locator.h>

Include dependency graph for tesseract_environment_utils.cpp:

Functions
SceneGraph::UPtr	getSceneGraph ()
SRDFModel::Ptr	getSRDFModel (const SceneGraph &scene_graph)
template<typename ManagerType >
void	checkIsAllowedFnOverride (std::unique_ptr< ManagerType > manager)
	EXPECT_TRUE (scene_graph !=nullptr)
	EXPECT_TRUE (srdf !=nullptr)
	EXPECT_TRUE (success)
	checkIsAllowedFnOverride< DiscreteContactManager > (env->getDiscreteContactManager())
	checkIsAllowedFnOverride< ContinuousContactManager > (env->getContinuousContactManager())
manager	setActiveCollisionObjects (active_links)
tmap["test_box_link"]	translate (Eigen::Vector3d(0.9, 0, 0))
	checkTrajectoryState (contacts, *manager, tmap, config)
	EXPECT_FALSE (contacts.empty())
manager	applyContactManagerConfig (config.contact_manager_config)
contacts	clear ()
	EXPECT_TRUE (contacts.empty())
tmap1["test_box_link"]	translate (Eigen::Vector3d(0.9, 2, 0))
tmap2["test_box_link"]	translate (Eigen::Vector3d(0.9, -2, 0))
	checkTrajectorySegment (contacts, *manager, tmap1, tmap2, config.contact_request)
tmap["test_box_link"]	translate (Eigen::Vector3d(1.05, 0, 0))
	checkTrajectoryState (contacts, *manager, tmap, config.contact_request)
tmap1["test_box_link"]	translate (Eigen::Vector3d(1.05, 2, 0))
tmap2["test_box_link"]	translate (Eigen::Vector3d(1.05, -2, 0))
	checkTrajectorySegment (contacts, *manager, tmap1, tmap2, config)
int	main (int argc, char **argv)

Variables
auto	srdf = getSRDFModel(*scene_graph)
auto	env = std::make_shared<Environment>()
bool	success = env->init(*scene_graph, srdf)
CollisionCheckConfig	mCollisionCheckConfig
mCollisionCheckConfig	longest_valid_segment_length = 0.1
mCollisionCheckConfig contact_request	type = tesseract_collision::ContactTestType::FIRST
tesseract_collision::CollisionMarginData	margin_data (0.0) = margin_data
CollisionCheckConfig	default_config
default_config contact_manager_config	margin_data_override_type
tesseract_collision::ContactResultMap	contacts
DiscreteContactManager::Ptr	manager = env->getDiscreteContactManager()
std::vector< std::string >	active_links = { "boxbot_link", "test_box_link" }
tesseract_common::TransformMap	tmap = Eigen::Isometry3d::Identity()
tesseract_common::TransformMap	tmap1 = Eigen::Isometry3d::Identity()
tesseract_common::TransformMap	tmap2 = Eigen::Isometry3d::Identity()

Function Documentation

applyContactManagerConfig()

manager applyContactManagerConfig

(

config.

contact_manager_config

)

Initial value:

{
      config.contact_manager_config.modify_object_enabled["boxbot_link"] = true

checkIsAllowedFnOverride()

template<typename ManagerType >

void checkIsAllowedFnOverride

(

std::unique_ptr< ManagerType >

manager

)

checkIsAllowedFnOverride< ContinuousContactManager >()

checkIsAllowedFnOverride< ContinuousContactManager >

(

env->

getContinuousContactManager()

)

checkIsAllowedFnOverride< DiscreteContactManager >()

checkIsAllowedFnOverride< DiscreteContactManager >

(

env->

getDiscreteContactManager()

)

checkTrajectorySegment() [1/2]

checkTrajectorySegment	(	contacts	,
		*	manager,
		tmap1	,
		tmap2	,
		config
	)

checkTrajectorySegment() [2/2]

checkTrajectorySegment	(	contacts	,
		*	manager,
		tmap1	,
		tmap2	,
		config.	contact_request
	)

checkTrajectoryState() [1/2]

checkTrajectoryState	(	contacts	,
		*	manager,
		tmap	,
		config
	)

checkTrajectoryState() [2/2]

checkTrajectoryState	(	contacts	,
		*	manager,
		tmap	,
		config.	contact_request
	)

clear()

contacts clear

(

)

EXPECT_FALSE()

EXPECT_FALSE

(

contacts.

empty()

)

EXPECT_TRUE() [1/4]

EXPECT_TRUE

(

contacts.

empty()

)

EXPECT_TRUE() [2/4]

EXPECT_TRUE

(

scene_graph !

= nullptr

)

EXPECT_TRUE() [3/4]

EXPECT_TRUE

(

srdf !

= nullptr

)

EXPECT_TRUE() [4/4]

EXPECT_TRUE

(

success

)

getSceneGraph()

SceneGraph::UPtr getSceneGraph

(

)

getSRDFModel()

SRDFModel::Ptr getSRDFModel

(

const SceneGraph &

scene_graph

)

main()

int main	(	int	argc,
		char **	argv
	)

setActiveCollisionObjects()

manager setActiveCollisionObjects

(

active_links

)

translate() [1/6]

tmap2["test_box_link"] translate

(

Eigen::Vector3d(0.9, -2, 0)

)

translate() [2/6]

tmap["test_box_link"] translate

(

Eigen::Vector3d(0.9, 0, 0)

)

translate() [3/6]

tmap1["test_box_link"] translate

(

Eigen::Vector3d(0.9, 2, 0)

)

translate() [4/6]

tmap2["test_box_link"] translate

(

Eigen::Vector3d(1.05, -2, 0)

)

translate() [5/6]

tmap["test_box_link"] translate

(

Eigen::Vector3d(1.05, 0, 0)

)

translate() [6/6]

tmap1["test_box_link"] translate

(

Eigen::Vector3d(1.05, 2, 0)

)

Variable Documentation

active_links

std::vector<std::string> active_links = { "boxbot_link", "test_box_link" }

contacts

tesseract_collision::ContactResultMap contacts

default_config

CollisionCheckConfig default_config

env

auto env = std::make_shared<Environment>()

longest_valid_segment_length

default_config longest_valid_segment_length = 0.1

manager

ContinuousContactManager::Ptr manager = env->getDiscreteContactManager()

margin_data

default_config contact_manager_config margin_data

(

0.

0

)

= margin_data

margin_data_override_type

default_config contact_manager_config margin_data_override_type

Initial value:

=
      tesseract_common::CollisionMarginOverrideType::REPLACE

mCollisionCheckConfig

CollisionCheckConfig mCollisionCheckConfig

srdf

auto srdf = getSRDFModel(*scene_graph)

success

bool success = env->init(*scene_graph, srdf)

tmap

tesseract_common::TransformMap tmap = Eigen::Isometry3d::Identity()

tmap1

tesseract_common::TransformMap tmap1 = Eigen::Isometry3d::Identity()

tmap2

tesseract_common::TransformMap tmap2 = Eigen::Isometry3d::Identity()

type

default_config type = tesseract_collision::ContactTestType::FIRST