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Levi-ArmstrongLevi-Armstrong
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Remove PluginLoader and ClassLoader from tesseract_common fwd.h
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-580
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4 files changed

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‎tesseract_command_language/include/tesseract_command_language/test_suite/cartesian_waypoint_poly_unit.hpp‎

Lines changed: 152 additions & 151 deletions
Original file line numberDiff line numberDiff line change
@@ -63,168 +63,169 @@ void runCartesianWaypointTest()
6363
EXPECT_FALSE(wp.isToleranced());
6464
}
6565

66-
{ // Set/Get Transform
67-
{ // Test construction providing pose
66+
{ // Set/Get Transform
67+
{ // Test construction providing pose
6868
Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
69-
pose.translation() = Eigen::Vector3d(1, 2, 3);
70-
CartesianWaypointPoly wp{ T(pose) };
71-
EXPECT_TRUE(wp.getTransform().isApprox(pose));
72-
EXPECT_FALSE(wp.isToleranced());
73-
}
74-
75-
{ // Test construction providing pose
76-
Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
77-
pose.translation() = Eigen::Vector3d(1, 2, 3);
78-
CartesianWaypointPoly wp{ T(pose, Eigen::VectorXd::Constant(3, -5), Eigen::VectorXd::Constant(3, 5)) };
79-
EXPECT_TRUE(wp.getTransform().isApprox(pose));
80-
EXPECT_TRUE(wp.getLowerTolerance().isApprox(Eigen::VectorXd::Constant(3, -5)));
81-
EXPECT_TRUE(wp.getUpperTolerance().isApprox(Eigen::VectorXd::Constant(3, 5)));
82-
EXPECT_TRUE(wp.isToleranced());
83-
}
69+
pose.translation() = Eigen::Vector3d(1, 2, 3);
70+
CartesianWaypointPoly wp{ T(pose) };
71+
EXPECT_TRUE(wp.getTransform().isApprox(pose));
72+
EXPECT_FALSE(wp.isToleranced());
73+
}
8474

85-
{ // Test set pose
86-
Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
87-
pose.translation() = Eigen::Vector3d(1, 2, 3);
88-
CartesianWaypointPoly wp{ T() };
89-
wp.setTransform(pose);
90-
EXPECT_TRUE(wp.getTransform().isApprox(pose));
91-
EXPECT_FALSE(wp.isToleranced());
92-
}
93-
94-
{ // Test assigning pose
95-
Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
96-
pose.translation() = Eigen::Vector3d(1, 2, 3);
97-
CartesianWaypointPoly wp{ T() };
98-
wp.getTransform() = pose;
99-
EXPECT_TRUE(std::as_const(wp).getTransform().isApprox(pose));
100-
EXPECT_FALSE(wp.isToleranced());
101-
}
102-
} // namespace tesseract_planning::test_suite
103-
104-
{ // Test Set Tolerances
105-
CartesianWaypointPoly wp{ T() };
106-
EXPECT_FALSE(wp.isToleranced());
107-
108-
wp.setUpperTolerance(Eigen::VectorXd::Constant(3, 5));
109-
wp.setLowerTolerance(Eigen::VectorXd::Constant(3, -5));
110-
EXPECT_TRUE(wp.isToleranced());
75+
{ // Test construction providing pose
76+
Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
77+
pose.translation() = Eigen::Vector3d(1, 2, 3);
78+
CartesianWaypointPoly wp{ T(pose, Eigen::VectorXd::Constant(3, -5), Eigen::VectorXd::Constant(3, 5)) };
79+
EXPECT_TRUE(wp.getTransform().isApprox(pose));
80+
EXPECT_TRUE(wp.getLowerTolerance().isApprox(Eigen::VectorXd::Constant(3, -5)));
81+
EXPECT_TRUE(wp.getUpperTolerance().isApprox(Eigen::VectorXd::Constant(3, 5)));
82+
EXPECT_TRUE(wp.isToleranced());
83+
}
84+
85+
{ // Test set pose
86+
Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
87+
pose.translation() = Eigen::Vector3d(1, 2, 3);
88+
CartesianWaypointPoly wp{ T() };
89+
wp.setTransform(pose);
90+
EXPECT_TRUE(wp.getTransform().isApprox(pose));
91+
EXPECT_FALSE(wp.isToleranced());
92+
}
93+
94+
{ // Test assigning pose
95+
Eigen::Isometry3d pose{ Eigen::Isometry3d::Identity() };
96+
pose.translation() = Eigen::Vector3d(1, 2, 3);
97+
CartesianWaypointPoly wp{ T() };
98+
wp.getTransform() = pose;
99+
EXPECT_TRUE(std::as_const(wp).getTransform().isApprox(pose));
100+
EXPECT_FALSE(wp.isToleranced());
101+
}
102+
} // namespace tesseract_planning::test_suite
103+
104+
{ // Test Set Tolerances
105+
CartesianWaypointPoly wp{ T() };
106+
EXPECT_FALSE(wp.isToleranced());
111107

112-
wp.setUpperTolerance(Eigen::VectorXd::Constant(3, -5));
113-
wp.setLowerTolerance(Eigen::VectorXd::Constant(3, -5));
114-
EXPECT_ANY_THROW(wp.isToleranced()); // NOLINT
108+
wp.setUpperTolerance(Eigen::VectorXd::Constant(3, 5));
109+
wp.setLowerTolerance(Eigen::VectorXd::Constant(3, -5));
110+
EXPECT_TRUE(wp.isToleranced());
115111

116-
wp.setUpperTolerance(Eigen::VectorXd::Constant(3, 5));
117-
wp.setLowerTolerance(Eigen::VectorXd::Constant(3, 5));
118-
EXPECT_ANY_THROW(wp.isToleranced()); // NOLINT
112+
wp.setUpperTolerance(Eigen::VectorXd::Constant(3, -5));
113+
wp.setLowerTolerance(Eigen::VectorXd::Constant(3, -5));
114+
EXPECT_ANY_THROW(wp.isToleranced()); // NOLINT
119115

120-
wp.setUpperTolerance(Eigen::VectorXd::Constant(3, 0));
121-
wp.setLowerTolerance(Eigen::VectorXd::Constant(3, 0));
122-
EXPECT_FALSE(wp.isToleranced());
123-
}
116+
wp.setUpperTolerance(Eigen::VectorXd::Constant(3, 5));
117+
wp.setLowerTolerance(Eigen::VectorXd::Constant(3, 5));
118+
EXPECT_ANY_THROW(wp.isToleranced()); // NOLINT
124119

125-
{ // Test Equality and Serialization
126-
{ CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
127-
CartesianWaypointPoly wp2(wp1); // NOLINT
128-
EXPECT_TRUE(wp1 == wp2);
129-
EXPECT_TRUE(wp2 == wp1);
130-
EXPECT_FALSE(wp2 != wp1);
131-
runWaypointSerializationTest(wp1);
132-
}
133-
{
134-
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
135-
wp1.getTransform().translate(Eigen::Vector3d(1e6, 0, 0));
136-
CartesianWaypointPoly wp2(wp1);
137-
EXPECT_TRUE(wp1 == wp2);
138-
EXPECT_TRUE(wp2 == wp1);
139-
EXPECT_FALSE(wp2 != wp1);
140-
runWaypointSerializationTest(wp1);
141-
}
142-
{
143-
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
144-
wp1.getUpperTolerance().resize(3);
145-
wp1.getUpperTolerance() << 1, 2, 3;
146-
wp1.getLowerTolerance().resize(3);
147-
wp1.getLowerTolerance() << -4, -5, -6;
148-
CartesianWaypointPoly wp2(wp1);
149-
EXPECT_TRUE(wp1 == wp2);
150-
EXPECT_TRUE(wp2 == wp1);
151-
EXPECT_FALSE(wp2 != wp1);
152-
runWaypointSerializationTest(wp1);
153-
}
154-
// Not equal
155-
{
156-
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
157-
CartesianWaypointPoly wp2{ T(Eigen::Isometry3d::Identity()) };
158-
wp2.getTransform().rotate(Eigen::AngleAxisd(M_PI, Eigen::Vector3d(0, 0, 1)));
159-
EXPECT_FALSE(wp1 == wp2);
160-
EXPECT_FALSE(wp2 == wp1);
161-
EXPECT_TRUE(wp2 != wp1);
162-
runWaypointSerializationTest(wp2);
163-
}
164-
{
165-
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
166-
CartesianWaypointPoly wp2{ T(Eigen::Isometry3d::Identity()) };
167-
wp2.getTransform().translate(Eigen::Vector3d(1e6, 0, 0));
168-
EXPECT_FALSE(wp1 == wp2);
169-
EXPECT_FALSE(wp2 == wp1);
170-
EXPECT_TRUE(wp2 != wp1);
171-
runWaypointSerializationTest(wp2);
172-
}
173-
{
174-
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
175-
CartesianWaypointPoly wp2(wp1);
176-
wp2.getUpperTolerance().resize(3);
177-
wp2.getUpperTolerance() << 1, 2, 3;
178-
wp2.getLowerTolerance().resize(3);
179-
wp2.getLowerTolerance() << -4, -5, -6;
180-
EXPECT_FALSE(wp1 == wp2);
181-
EXPECT_FALSE(wp2 == wp1);
182-
EXPECT_TRUE(wp2 != wp1);
183-
runWaypointSerializationTest(wp2);
184-
}
185-
}
186-
187-
{ // Set/Get Seed
188-
tesseract_common::JointState seed_state;
189-
seed_state.joint_names = { "joint_1", "joint_2", "joint_3" };
190-
seed_state.position.resize(3);
191-
seed_state.position << .01, .02, .03;
192-
seed_state.velocity.resize(3);
193-
seed_state.velocity << .1, .2, .3;
194-
seed_state.acceleration.resize(3);
195-
seed_state.acceleration << 1, 2, 3;
196-
197-
{ // Test default construction pose
198-
CartesianWaypointPoly wp{ T() };
199-
EXPECT_FALSE(wp.hasSeed());
200-
EXPECT_FALSE(std::as_const(wp).getSeed() == seed_state);
201-
}
202-
203-
{ // Test assigning pose
204-
CartesianWaypointPoly wp{ T() };
205-
EXPECT_FALSE(wp.hasSeed());
206-
wp.setSeed(seed_state);
207-
EXPECT_TRUE(wp.hasSeed());
208-
EXPECT_TRUE(std::as_const(wp).getSeed() == seed_state);
120+
wp.setUpperTolerance(Eigen::VectorXd::Constant(3, 0));
121+
wp.setLowerTolerance(Eigen::VectorXd::Constant(3, 0));
122+
EXPECT_FALSE(wp.isToleranced());
209123
}
210124

211-
{ // Test assigning pose
212-
CartesianWaypointPoly wp{ T() };
213-
EXPECT_FALSE(wp.hasSeed());
214-
wp.getSeed() = seed_state;
215-
EXPECT_TRUE(wp.hasSeed());
216-
EXPECT_TRUE(std::as_const(wp).getSeed() == seed_state);
125+
{ // Test Equality and Serialization
126+
{
127+
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
128+
CartesianWaypointPoly wp2(wp1); // NOLINT
129+
EXPECT_TRUE(wp1 == wp2);
130+
EXPECT_TRUE(wp2 == wp1);
131+
EXPECT_FALSE(wp2 != wp1);
132+
runWaypointSerializationTest(wp1);
133+
}
134+
{
135+
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
136+
wp1.getTransform().translate(Eigen::Vector3d(1e6, 0, 0));
137+
CartesianWaypointPoly wp2(wp1);
138+
EXPECT_TRUE(wp1 == wp2);
139+
EXPECT_TRUE(wp2 == wp1);
140+
EXPECT_FALSE(wp2 != wp1);
141+
runWaypointSerializationTest(wp1);
142+
}
143+
{
144+
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
145+
wp1.getUpperTolerance().resize(3);
146+
wp1.getUpperTolerance() << 1, 2, 3;
147+
wp1.getLowerTolerance().resize(3);
148+
wp1.getLowerTolerance() << -4, -5, -6;
149+
CartesianWaypointPoly wp2(wp1);
150+
EXPECT_TRUE(wp1 == wp2);
151+
EXPECT_TRUE(wp2 == wp1);
152+
EXPECT_FALSE(wp2 != wp1);
153+
runWaypointSerializationTest(wp1);
154+
}
155+
// Not equal
156+
{
157+
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
158+
CartesianWaypointPoly wp2{ T(Eigen::Isometry3d::Identity()) };
159+
wp2.getTransform().rotate(Eigen::AngleAxisd(M_PI, Eigen::Vector3d(0, 0, 1)));
160+
EXPECT_FALSE(wp1 == wp2);
161+
EXPECT_FALSE(wp2 == wp1);
162+
EXPECT_TRUE(wp2 != wp1);
163+
runWaypointSerializationTest(wp2);
164+
}
165+
{
166+
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
167+
CartesianWaypointPoly wp2{ T(Eigen::Isometry3d::Identity()) };
168+
wp2.getTransform().translate(Eigen::Vector3d(1e6, 0, 0));
169+
EXPECT_FALSE(wp1 == wp2);
170+
EXPECT_FALSE(wp2 == wp1);
171+
EXPECT_TRUE(wp2 != wp1);
172+
runWaypointSerializationTest(wp2);
173+
}
174+
{
175+
CartesianWaypointPoly wp1{ T(Eigen::Isometry3d::Identity()) };
176+
CartesianWaypointPoly wp2(wp1);
177+
wp2.getUpperTolerance().resize(3);
178+
wp2.getUpperTolerance() << 1, 2, 3;
179+
wp2.getLowerTolerance().resize(3);
180+
wp2.getLowerTolerance() << -4, -5, -6;
181+
EXPECT_FALSE(wp1 == wp2);
182+
EXPECT_FALSE(wp2 == wp1);
183+
EXPECT_TRUE(wp2 != wp1);
184+
runWaypointSerializationTest(wp2);
185+
}
217186
}
218187

219-
{ // Test clear seed
220-
CartesianWaypointPoly wp{ T() };
221-
EXPECT_FALSE(wp.hasSeed());
222-
wp.getSeed() = seed_state;
223-
EXPECT_TRUE(wp.hasSeed());
224-
wp.clearSeed();
225-
EXPECT_FALSE(wp.hasSeed());
188+
{ // Set/Get Seed
189+
tesseract_common::JointState seed_state;
190+
seed_state.joint_names = { "joint_1", "joint_2", "joint_3" };
191+
seed_state.position.resize(3);
192+
seed_state.position << .01, .02, .03;
193+
seed_state.velocity.resize(3);
194+
seed_state.velocity << .1, .2, .3;
195+
seed_state.acceleration.resize(3);
196+
seed_state.acceleration << 1, 2, 3;
197+
198+
{ // Test default construction pose
199+
CartesianWaypointPoly wp{ T() };
200+
EXPECT_FALSE(wp.hasSeed());
201+
EXPECT_FALSE(std::as_const(wp).getSeed() == seed_state);
202+
}
203+
204+
{ // Test assigning pose
205+
CartesianWaypointPoly wp{ T() };
206+
EXPECT_FALSE(wp.hasSeed());
207+
wp.setSeed(seed_state);
208+
EXPECT_TRUE(wp.hasSeed());
209+
EXPECT_TRUE(std::as_const(wp).getSeed() == seed_state);
210+
}
211+
212+
{ // Test assigning pose
213+
CartesianWaypointPoly wp{ T() };
214+
EXPECT_FALSE(wp.hasSeed());
215+
wp.getSeed() = seed_state;
216+
EXPECT_TRUE(wp.hasSeed());
217+
EXPECT_TRUE(std::as_const(wp).getSeed() == seed_state);
218+
}
219+
220+
{ // Test clear seed
221+
CartesianWaypointPoly wp{ T() };
222+
EXPECT_FALSE(wp.hasSeed());
223+
wp.getSeed() = seed_state;
224+
EXPECT_TRUE(wp.hasSeed());
225+
wp.clearSeed();
226+
EXPECT_FALSE(wp.hasSeed());
227+
}
226228
}
227229
}
228-
}
229230
} // namespace tesseract_planning::test_suite
230231
#endif // TESSERACT_COMMAND_LANGUAGE_CARTESIAN_WAYPOINT_POLY_UNIT_HPP

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