tesseract_urdf_common_unit.h File Reference

#include <tesseract_common/macros.h>
#include <fstream>
#include <iostream>
#include <vector>
#include <gtest/gtest.h>
#include <console_bridge/console.h>
#include <tinyxml2.h>
#include <tesseract_common/resource_locator.h>
#include <tesseract_common/utils.h>
#include <tesseract_urdf/urdf_parser.h>
#include <tesseract_support/tesseract_support_resource_locator.h>

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Functions
template<typename ElementType >
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP bool	runTest (ElementType &type, std::function< ElementType(const tinyxml2::XMLElement *, const int)> func, const std::string &xml_string, const std::string &element_name, int version)
template<typename ElementType >
bool	runTest (ElementType &type, std::function< ElementType(const tinyxml2::XMLElement *, const tesseract_common::ResourceLocator &, bool, const int)> func, const std::string &xml_string, const std::string &element_name, const tesseract_common::ResourceLocator &locator, int version, bool visual)
template<typename ElementType >
bool	runTest (ElementType &type, std::function< ElementType(const tinyxml2::XMLElement *, const tesseract_common::ResourceLocator &, const int)> func, const std::string &xml_string, const std::string &element_name, const tesseract_common::ResourceLocator &locator, int version)
template<typename ElementType >
bool	runTest (ElementType &type, std::function< ElementType(const tinyxml2::XMLElement *, const tesseract_common::ResourceLocator &, std::unordered_map< std::string, tesseract_scene_graph::Material::Ptr > &, const int)> func, const std::string &xml_string, const std::string &element_name, const tesseract_common::ResourceLocator &locator, std::unordered_map< std::string, tesseract_scene_graph::Material::Ptr > &available_materials, int version)
template<typename ElementType >
bool	runTest (ElementType &type, std::function< ElementType(const tinyxml2::XMLElement *, std::unordered_map< std::string, tesseract_scene_graph::Material::Ptr > &, bool, const int)> func, const std::string &xml_string, const std::string &element_name, std::unordered_map< std::string, tesseract_scene_graph::Material::Ptr > &available_materials, int version, const bool visual)
std::string	stripNewline (const std::string &in)
	stripNewline - For some reason, tinyxml2 printers add a trailing newline. This function removes it. More...
std::string	toString (const tinyxml2::XMLElement *element)
template<typename TessType >
int	writeTest (TessType &type, std::function< tinyxml2::XMLElement *(const TessType &, tinyxml2::XMLDocument &)> func, std::string &text)
	writeTest - test write functions More...
template<typename TessType >
int	writeTest (TessType &type, std::function< tinyxml2::XMLElement *(const TessType &, tinyxml2::XMLDocument &, const std::string &)> func, std::string &text, const std::string &directory)
	writeTest - test write functions for links More...
template<typename TessType >
int	writeTest (TessType &type, std::function< tinyxml2::XMLElement *(const TessType &, tinyxml2::XMLDocument &, const std::string &, const std::string &)> func, std::string &text, const std::string &directory, const std::string &filename)
	writeTest - test write functions for meshes More...
template<typename TessType >
int	writeTest (TessType &type, std::function< tinyxml2::XMLElement *(const TessType &, tinyxml2::XMLDocument &, const std::string &, const std::string &, const int)> func, std::string &text, const std::string &directory, const std::string &link_name, const int id)
	writeTest - test write functions for collision and visual geometries More...
void	writeTextToFile (const std::string &path, const std::string &text)

Function Documentation

runTest() [1/5]

template<typename ElementType >

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP bool runTest	(	ElementType &	type,
		std::function< ElementType(const tinyxml2::XMLElement *, const int)>	func,
		const std::string &	xml_string,
		const std::string &	element_name,
		int	version
	)

runTest() [2/5]

template<typename ElementType >

bool runTest	(	ElementType &	type,
		std::function< ElementType(const tinyxml2::XMLElement *, const tesseract_common::ResourceLocator &, bool, const int)>	func,
		const std::string &	xml_string,
		const std::string &	element_name,
		const tesseract_common::ResourceLocator &	locator,
		int	version,
		bool	visual
	)

runTest() [3/5]

template<typename ElementType >

bool runTest	(	ElementType &	type,
		std::function< ElementType(const tinyxml2::XMLElement *, const tesseract_common::ResourceLocator &, const int)>	func,
		const std::string &	xml_string,
		const std::string &	element_name,
		const tesseract_common::ResourceLocator &	locator,
		int	version
	)

runTest() [4/5]

template<typename ElementType >

bool runTest	(	ElementType &	type,
		std::function< ElementType(const tinyxml2::XMLElement *, const tesseract_common::ResourceLocator &, std::unordered_map< std::string, tesseract_scene_graph::Material::Ptr > &, const int)>	func,
		const std::string &	xml_string,
		const std::string &	element_name,
		const tesseract_common::ResourceLocator &	locator,
		std::unordered_map< std::string, tesseract_scene_graph::Material::Ptr > &	available_materials,
		int	version
	)

runTest() [5/5]

template<typename ElementType >

bool runTest	(	ElementType &	type,
		std::function< ElementType(const tinyxml2::XMLElement *, std::unordered_map< std::string, tesseract_scene_graph::Material::Ptr > &, bool, const int)>	func,
		const std::string &	xml_string,
		const std::string &	element_name,
		std::unordered_map< std::string, tesseract_scene_graph::Material::Ptr > &	available_materials,
		int	version,
		const bool	visual
	)

stripNewline()

std::string stripNewline ( const std::string &  in )

inline

stripNewline - For some reason, tinyxml2 printers add a trailing newline. This function removes it.

Parameters

in	- input string

Returns

out - string equal to input string with trailing newlines removed.

toString()

std::string toString ( const tinyxml2::XMLElement *  element )

inline

writeTest() [1/4]

template<typename TessType >

int writeTest	(	TessType &	type,
		std::function< tinyxml2::XMLElement *(const TessType &, tinyxml2::XMLDocument &)>	func,
		std::string &	text
	)

writeTest - test write functions

Parameters

type	- object of type being tested
func	- function to write object to URDF-XML
text	- xml text generated

Returns

0 if success, 1 if exception thrown, 2 if nullptr generated

writeTest() [2/4]

template<typename TessType >

int writeTest	(	TessType &	type,
		std::function< tinyxml2::XMLElement *(const TessType &, tinyxml2::XMLDocument &, const std::string &)>	func,
		std::string &	text,
		const std::string &	directory
	)

writeTest - test write functions for links

Parameters

type	- object of type being tested
func	- function to write object to URDF-XML
text	- xml text generated
directory	- directory to save files

Returns

0 if success, 1 if exception thrown, 2 if nullptr generated

writeTest() [3/4]

template<typename TessType >

int writeTest	(	TessType &	type,
		std::function< tinyxml2::XMLElement *(const TessType &, tinyxml2::XMLDocument &, const std::string &, const std::string &)>	func,
		std::string &	text,
		const std::string &	directory,
		const std::string &	filename
	)

writeTest - test write functions for meshes

Parameters

type	- object of type being tested
func	- function to write object to URDF-XML
text	- xml text generated
directory	- directory to save files
filename	- name of link to which geometry is attached

Returns

0 if success, 1 if exception thrown, 2 if nullptr generated

writeTest() [4/4]

template<typename TessType >

int writeTest	(	TessType &	type,
		std::function< tinyxml2::XMLElement *(const TessType &, tinyxml2::XMLDocument &, const std::string &, const std::string &, const int)>	func,
		std::string &	text,
		const std::string &	directory,
		const std::string &	link_name,
		const int	id
	)

writeTest - test write functions for collision and visual geometries

Parameters

type	- object of type being tested
func	- function to write object to URDF-XML
text	- xml text generated
directory	- directory to save files
link_name	- name of link to which geometry is attached
id	- index of this geometry in list

Returns

0 if success, 1 if exception thrown, 2 if nullptr generated

writeTextToFile()

void writeTextToFile ( const std::string &  path, const std::string &  text  )

inline