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tesseract_common_unit.cpp
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#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <gtest/gtest.h>
#include <type_traits>
#include <boost/archive/xml_oarchive.hpp>
#include <boost/archive/xml_iarchive.hpp>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_common/utils.h>
#include <tesseract_common/sfinae_utils.h>
#include <tesseract_common/resource_locator.h>
#include <tesseract_common/manipulator_info.h>
#include <tesseract_common/joint_state.h>
#include <tesseract_common/types.h>
#include <tesseract_common/any_poly.h>
#include <tesseract_common/kinematic_limits.h>
#include <tesseract_common/yaml_utils.h>
#include <tesseract_common/collision_margin_data.h>
/** @brief Resource locator implementation using a provided function to locate file resources */
class TestResourceLocator : public tesseract_common::ResourceLocator
{
public:
using Ptr = std::shared_ptr<TestResourceLocator>;
using ConstPtr = std::shared_ptr<const TestResourceLocator>;
~TestResourceLocator() override = default;
tesseract_common::Resource::Ptr locateResource(const std::string& url) const override final
{
std::string mod_url = url;
if (url.find("package://tesseract_common") == 0)
{
mod_url.erase(0, strlen("package://tesseract_common"));
size_t pos = mod_url.find('/');
if (pos == std::string::npos)
return nullptr;
std::string package = mod_url.substr(0, pos);
mod_url.erase(0, pos);
tesseract_common::fs::path file_path(__FILE__);
std::string package_path = file_path.parent_path().parent_path().string();
if (package_path.empty())
return nullptr;
mod_url = package_path + mod_url;
}
if (!tesseract_common::fs::path(mod_url).is_complete())
return nullptr;
return std::make_shared<tesseract_common::SimpleLocatedResource>(
url, mod_url, std::make_shared<TestResourceLocator>(*this));
}
};
TEST(TesseractCommonUnit, isNumeric) // NOLINT
{
std::vector<std::string> true_test = { "1", "1.5", "-1", "-1.5", "1e-5", "1e5",
"-1e-5", "-1e5", "1.0e-5", "1.0e5", "-1.0e-5", "-1.0e5" };
EXPECT_TRUE(tesseract_common::isNumeric(true_test));
for (const auto& s : true_test)
{
EXPECT_TRUE(tesseract_common::isNumeric(s));
}
std::vector<std::string> false_test = { "a", "test sdfs", "1 2", "1.0 2.0", "+", "-", "=" };
EXPECT_FALSE(tesseract_common::isNumeric(false_test));
for (const auto& s : false_test)
{
EXPECT_FALSE(tesseract_common::isNumeric(s));
}
std::string empty_string;
EXPECT_FALSE(tesseract_common::isNumeric(empty_string));
}
TEST(TesseractCommonUnit, toNumeric) // NOLINT
{
std::vector<std::string> true_test = { "1", "1.5", "-1", "-1.5", "1e-5", "1e5",
"-1e-5", "-1e5", "1.0e-5", "1.0e5", "-1.0e-5", "-1.0e5" };
std::vector<double> true_test_value = { 1, 1.5, -1, -1.5, 1e-5, 1e5, -1e-5, -1e5, 1.0e-5, 1.0e5, -1.0e-5, -1.0e5 };
EXPECT_TRUE(tesseract_common::isNumeric(true_test));
for (size_t i = 0; i < true_test.size(); ++i)
{
double value = 0;
EXPECT_TRUE(tesseract_common::toNumeric<double>(true_test[i], value));
EXPECT_NEAR(value, true_test_value[i], 1e-8);
}
std::vector<std::string> false_test = { "a", "test sdfs", "1 2", "1.0 2.0", "+", "-", "=" };
EXPECT_FALSE(tesseract_common::isNumeric(false_test));
for (const auto& s : false_test)
{
double value = 0;
EXPECT_FALSE(tesseract_common::toNumeric(s, value));
EXPECT_NEAR(value, 0, 1e-8);
}
std::string empty_string;
double value = 0;
EXPECT_FALSE(tesseract_common::toNumeric(empty_string, value));
}
TEST(TesseractCommonUnit, generateRandomNumber) // NOLINT
{
Eigen::MatrixX2d limits(4, 2);
limits(0, 0) = -5;
limits(0, 1) = 5;
limits(1, 0) = 0;
limits(1, 1) = 10;
limits(2, 0) = 5;
limits(2, 1) = 15;
limits(3, 0) = -15;
limits(3, 1) = -5;
Eigen::VectorXd random_numbers = tesseract_common::generateRandomNumber(limits);
EXPECT_EQ(limits.rows(), random_numbers.rows());
for (long i = 0; i < limits.rows(); ++i)
{
EXPECT_LE(random_numbers(i), limits(i, 1));
EXPECT_GE(random_numbers(i), limits(i, 0));
}
Eigen::MatrixX2d empty_limits;
Eigen::VectorXd random_numbers2 = tesseract_common::generateRandomNumber(empty_limits);
EXPECT_EQ(empty_limits.rows(), random_numbers2.rows());
Eigen::MatrixX2d equal_limits(4, 2);
equal_limits(0, 0) = 5;
equal_limits(0, 1) = 5;
equal_limits(1, 0) = 5;
equal_limits(1, 1) = 5;
equal_limits(2, 0) = 5;
equal_limits(2, 1) = 5;
equal_limits(3, 0) = 5;
equal_limits(3, 1) = 5;
Eigen::VectorXd random_numbers3 = tesseract_common::generateRandomNumber(equal_limits);
EXPECT_EQ(equal_limits.rows(), random_numbers3.rows());
for (long i = 0; i < equal_limits.rows(); ++i)
{
EXPECT_NEAR(random_numbers3(i), 5, 1e-5);
}
Eigen::MatrixX2d wrong_limits(4, 2);
wrong_limits(0, 0) = 5;
wrong_limits(0, 1) = -5;
wrong_limits(1, 0) = 5;
wrong_limits(1, 1) = -5;
wrong_limits(2, 0) = 5;
wrong_limits(2, 1) = -5;
wrong_limits(3, 0) = 5;
wrong_limits(3, 1) = -5;
Eigen::VectorXd random_numbers4 = tesseract_common::generateRandomNumber(wrong_limits);
EXPECT_EQ(wrong_limits.rows(), random_numbers4.rows());
for (long i = 0; i < limits.rows(); ++i)
{
EXPECT_GE(random_numbers4(i), wrong_limits(i, 1));
EXPECT_LE(random_numbers4(i), wrong_limits(i, 0));
}
}
TEST(TesseractCommonUnit, trim) // NOLINT
{
std::string check1 = " trim";
std::string check2 = "trim ";
std::string check3 = " trim ";
std::string check_trimmed = "trim";
std::string s = check1;
tesseract_common::rtrim(s);
EXPECT_EQ(s, check1);
tesseract_common::ltrim(s);
EXPECT_EQ(s, check_trimmed);
s = check2;
tesseract_common::ltrim(s);
EXPECT_EQ(s, check2);
tesseract_common::rtrim(s);
EXPECT_EQ(s, check_trimmed);
s = check1;
tesseract_common::trim(s);
EXPECT_EQ(s, check_trimmed);
s = check2;
tesseract_common::trim(s);
EXPECT_EQ(s, check_trimmed);
s = check3;
tesseract_common::trim(s);
EXPECT_EQ(s, check_trimmed);
}
struct TestHasMemberFunction
{
bool update() const { return true; } // NOLINT
int add(int a) const { return a + 1; } // NOLINT
};
struct TestHasMemberWithArgFunction
{
bool update(std::shared_ptr<TestHasMemberWithArgFunction>& p) { return (p == nullptr); } // NOLINT
double add(double a, double b) const { return a + b; } // NOLINT
};
struct TestMissingMemberFunction
{
bool missingUpdate() const { return false; } // NOLINT
double add(int a) const { return a + 1; } // NOLINT
};
CREATE_MEMBER_CHECK(update);
CREATE_MEMBER_FUNC_INVOCABLE_CHECK(update, std::shared_ptr<T>&);
CREATE_MEMBER_FUNC_INVOCABLE_CHECK(add, double, double);
CREATE_MEMBER_FUNC_RETURN_TYPE_CHECK(add, int, int);
CREATE_MEMBER_FUNC_SIGNATURE_CHECK(add, double, double, double);
TEST(TesseractCommonUnit, sfinaeHasMemberFunction) // NOLINT
{
bool t_true = has_member_update<TestHasMemberFunction>::value;
bool t_false = has_member_update<TestMissingMemberFunction>::value;
EXPECT_TRUE(t_true);
EXPECT_FALSE(t_false);
}
TEST(TesseractCommonUnit, sfinaeHasMemberFunctionInvocable) // NOLINT
{
bool i_update_true = has_member_func_invocable_update<TestHasMemberWithArgFunction>::value;
bool i_add_true = has_member_func_invocable_add<TestHasMemberWithArgFunction>::value;
bool i_update_false = has_member_func_invocable_update<TestHasMemberFunction>::value;
bool i_add_false = has_member_func_invocable_add<TestHasMemberFunction>::value;
EXPECT_TRUE(i_update_true);
EXPECT_TRUE(i_add_true);
EXPECT_FALSE(i_update_false);
EXPECT_FALSE(i_add_false);
}
TEST(TesseractCommonUnit, sfinaeHasMemberFunctionWithReturnType) // NOLINT
{
bool i_add_true = has_member_func_return_type_add<TestHasMemberFunction>::value;
bool t_add_false = has_member_func_return_type_add<TestMissingMemberFunction>::value;
EXPECT_TRUE(i_add_true);
EXPECT_FALSE(t_add_false);
}
TEST(TesseractCommonUnit, sfinaeHasMemberFunctionSignature) // NOLINT
{
bool i_add_true = has_member_func_signature_add<TestHasMemberWithArgFunction>::value;
bool t_add_false = has_member_func_signature_add<TestMissingMemberFunction>::value;
EXPECT_TRUE(i_add_true);
EXPECT_FALSE(t_add_false);
}
TEST(TesseractCommonUnit, bytesResource) // NOLINT
{
std::vector<uint8_t> data;
for (uint8_t i = 0; i < 8; i++)
{
data.push_back(i);
}
std::shared_ptr<tesseract_common::BytesResource> bytes_resource =
std::make_shared<tesseract_common::BytesResource>("package://test_package/data.bin", data);
EXPECT_EQ(bytes_resource->getUrl(), "package://test_package/data.bin");
EXPECT_EQ(bytes_resource->isFile(), false);
EXPECT_EQ(bytes_resource->getFilePath(), "");
EXPECT_EQ(bytes_resource->locateResource("test"), nullptr);
auto data2 = bytes_resource->getResourceContents();
ASSERT_EQ(data.size(), data2.size());
for (size_t i = 0; i < data.size(); i++)
{
EXPECT_EQ(data[i], data2[i]);
}
auto data2_stream = bytes_resource->getResourceContentStream();
for (unsigned char& i : data)
{
char data2_val{ 0 };
data2_stream->read(&data2_val, 1);
EXPECT_EQ(i, *reinterpret_cast<uint8_t*>(&data2_val)); // NOLINT
}
std::shared_ptr<tesseract_common::BytesResource> bytes_resource2 =
std::make_shared<tesseract_common::BytesResource>("package://test_package/data.bin", data.data(), data.size());
EXPECT_EQ(bytes_resource2->getUrl(), "package://test_package/data.bin");
EXPECT_EQ(bytes_resource->getResourceContents().size(), data.size());
}
TEST(TesseractCommonUnit, fileToString) // NOLINT
{
tesseract_common::ResourceLocator::Ptr locator = std::make_shared<TestResourceLocator>();
tesseract_common::Resource::Ptr resource = locator->locateResource("package://tesseract_common/package.xml");
std::string data = tesseract_common::fileToString(tesseract_common::fs::path(resource->getFilePath()));
EXPECT_FALSE(data.empty());
}
TEST(TesseractCommonUnit, ManipulatorInfo) // NOLINT
{
// Empty tcp
tesseract_common::ManipulatorInfo manip_info;
EXPECT_TRUE(manip_info.empty());
EXPECT_TRUE(manip_info.tcp_frame.empty());
EXPECT_TRUE(manip_info.manipulator.empty());
EXPECT_TRUE(manip_info.manipulator_ik_solver.empty());
EXPECT_TRUE(manip_info.working_frame.empty());
tesseract_common::ManipulatorInfo manip_info_override("manipulator", "world", "tool0");
manip_info_override.tcp_offset = Eigen::Isometry3d::Identity() * Eigen::Translation3d(0.0, 0.0, 0.25);
manip_info_override.manipulator_ik_solver = "OPWInvKin";
manip_info_override.working_frame = "base_link";
manip_info = manip_info.getCombined(manip_info_override);
EXPECT_FALSE(manip_info.empty());
EXPECT_TRUE(manip_info.tcp_frame == manip_info_override.tcp_frame);
EXPECT_EQ(manip_info.manipulator, manip_info_override.manipulator);
EXPECT_EQ(manip_info.manipulator_ik_solver, manip_info_override.manipulator_ik_solver);
EXPECT_EQ(manip_info.working_frame, manip_info_override.working_frame);
// Test empty method
{
tesseract_common::ManipulatorInfo manip_info("manip", "world", "");
EXPECT_TRUE(manip_info.empty());
}
{
tesseract_common::ManipulatorInfo manip_info("manip", "", "tool0");
EXPECT_TRUE(manip_info.empty());
}
{
tesseract_common::ManipulatorInfo manip_info("", "world", "tool0");
EXPECT_TRUE(manip_info.empty());
}
{
tesseract_common::ManipulatorInfo manip_info("", "", "");
manip_info.manipulator_ik_solver = "manip";
EXPECT_TRUE(manip_info.empty());
}
}
TEST(TesseractCommonUnit, JointStateTest) // NOLINT
{
std::vector<std::string> joint_names{ "joint_1", "joint_2", "joint_3" };
Eigen::VectorXd positons = Eigen::VectorXd::Constant(3, 5);
tesseract_common::JointState joint_state(joint_names, positons);
EXPECT_TRUE(joint_state.joint_names == joint_names);
EXPECT_TRUE(joint_state.position.isApprox(positons, 1e-5));
}
TESSERACT_ANY_EXPORT(tesseract_common, JointState); // NOLINT
TEST(TesseractCommonUnit, anyUnit) // NOLINT
{
tesseract_common::AnyPoly any_type;
EXPECT_TRUE(any_type.getType() == std::type_index(typeid(nullptr)));
tesseract_common::JointState joint_state;
joint_state.joint_names = { "joint_1", "joint_2", "joint_3" };
joint_state.position = Eigen::VectorXd::Constant(3, 5);
joint_state.velocity = Eigen::VectorXd::Constant(3, 6);
joint_state.acceleration = Eigen::VectorXd::Constant(3, 7);
joint_state.effort = Eigen::VectorXd::Constant(3, 8);
joint_state.time = 100;
any_type = joint_state;
EXPECT_TRUE(any_type.getType() == std::type_index(typeid(tesseract_common::JointState)));
EXPECT_TRUE(any_type.as<tesseract_common::JointState>() == joint_state);
// Check clone
tesseract_common::AnyPoly any_copy = any_type;
EXPECT_TRUE(any_copy == any_type);
// Check to make sure it is not making a copy during cast
auto& any_type_ref1 = any_type.as<tesseract_common::JointState>();
auto& any_type_ref2 = any_type.as<tesseract_common::JointState>();
auto& any_copy_ref = any_copy.as<tesseract_common::JointState>();
EXPECT_TRUE(&any_type_ref1 == &any_type_ref2);
EXPECT_TRUE(&any_type_ref1 != &any_copy_ref);
EXPECT_TRUE(&any_type_ref2 != &any_copy_ref);
const auto& any_type_const_ref1 = any_type.as<tesseract_common::JointState>();
const auto& any_type_const_ref2 = any_type.as<tesseract_common::JointState>();
EXPECT_TRUE(&any_type_const_ref1 == &any_type_const_ref2);
{
std::ofstream os(tesseract_common::getTempPath() + "any_type_boost.xml");
boost::archive::xml_oarchive oa(os);
oa << BOOST_SERIALIZATION_NVP(any_type);
}
tesseract_common::AnyPoly nany_type;
{
std::ifstream ifs(tesseract_common::getTempPath() + "any_type_boost.xml");
assert(ifs.good());
boost::archive::xml_iarchive ia(ifs);
// restore the schedule from the archive
ia >> BOOST_SERIALIZATION_NVP(nany_type);
}
EXPECT_TRUE(nany_type.getType() == std::type_index(typeid(tesseract_common::JointState)));
EXPECT_TRUE(nany_type.as<tesseract_common::JointState>() == joint_state);
// Test bad cast
EXPECT_ANY_THROW(nany_type.as<tesseract_common::Toolpath>()); // NOLINT
}
TEST(TesseractCommonUnit, boundsUnit) // NOLINT
{
Eigen::VectorXd v = Eigen::VectorXd::Ones(6);
v = v.array() + std::numeric_limits<float>::epsilon();
Eigen::MatrixX2d limits(6, 2); // NOLINT(clang-analyzer-core.uninitialized.UndefReturn)
limits.col(0) = -Eigen::VectorXd::Ones(6);
limits.col(1) = Eigen::VectorXd::Ones(6);
EXPECT_FALSE(tesseract_common::isWithinPositionLimits<double>(v, limits));
EXPECT_TRUE(tesseract_common::satisfiesPositionLimits<double>(v, limits, std::numeric_limits<float>::epsilon()));
EXPECT_FALSE(tesseract_common::satisfiesPositionLimits<double>(v, limits, std::numeric_limits<double>::epsilon()));
tesseract_common::enforcePositionLimits<double>(v, limits);
EXPECT_TRUE(tesseract_common::satisfiesPositionLimits<double>(v, limits, std::numeric_limits<double>::epsilon()));
v = -Eigen::VectorXd::Ones(6);
v = v.array() - std::numeric_limits<float>::epsilon();
EXPECT_FALSE(tesseract_common::isWithinPositionLimits<double>(v, limits));
EXPECT_TRUE(tesseract_common::satisfiesPositionLimits<double>(v, limits, std::numeric_limits<float>::epsilon()));
EXPECT_FALSE(tesseract_common::satisfiesPositionLimits<double>(v, limits, std::numeric_limits<double>::epsilon()));
tesseract_common::enforcePositionLimits<double>(v, limits);
EXPECT_TRUE(tesseract_common::satisfiesPositionLimits<double>(v, limits, std::numeric_limits<double>::epsilon()));
// Check that clamp is done correctly on both sides
v = Eigen::VectorXd::Constant(6, -2);
EXPECT_FALSE(tesseract_common::isWithinPositionLimits<double>(v, limits));
EXPECT_FALSE(tesseract_common::satisfiesPositionLimits<double>(v, limits, std::numeric_limits<double>::epsilon()));
tesseract_common::enforcePositionLimits<double>(v, limits);
ASSERT_EQ((v - limits.col(0)).norm(), 0);
v = Eigen::VectorXd::Constant(6, 2);
EXPECT_FALSE(tesseract_common::isWithinPositionLimits<double>(v, limits));
EXPECT_FALSE(tesseract_common::satisfiesPositionLimits<double>(v, limits, std::numeric_limits<double>::epsilon()));
tesseract_common::enforcePositionLimits<double>(v, limits);
ASSERT_EQ((v - limits.col(1)).norm(), 0);
v = Eigen::VectorXd::Ones(6);
v = v.array() - std::numeric_limits<float>::epsilon();
EXPECT_TRUE(tesseract_common::isWithinPositionLimits<double>(v, limits));
v = Eigen::VectorXd::Ones(6);
v(3) = v(3) + std::numeric_limits<float>::epsilon();
EXPECT_FALSE(tesseract_common::isWithinPositionLimits<double>(v, limits));
v = -Eigen::VectorXd::Ones(6);
v(3) = v(3) - std::numeric_limits<float>::epsilon();
EXPECT_FALSE(tesseract_common::isWithinPositionLimits<double>(v, limits));
}
TEST(TesseractCommonUnit, isIdenticalUnit) // NOLINT
{
std::vector<std::string> v1{ "a", "b", "c" };
std::vector<std::string> v2{ "a", "b", "c" };
EXPECT_TRUE(tesseract_common::isIdentical(v1, v2, false));
EXPECT_TRUE(tesseract_common::isIdentical(v1, v2, true));
v2 = { "c", "b", "a" };
EXPECT_TRUE(tesseract_common::isIdentical(v1, v2, false));
EXPECT_FALSE(tesseract_common::isIdentical(v1, v2, true));
v2 = { "a", "b", "d" };
EXPECT_FALSE(tesseract_common::isIdentical(v1, v2, false));
EXPECT_FALSE(tesseract_common::isIdentical(v1, v2, true));
}
TEST(TesseractCommonUnit, isIdenticalMapUnit) // NOLINT
{
std::map<std::string, int> v1;
v1["1"] = 1;
v1["2"] = 2;
std::map<std::string, int> v2;
bool equal = tesseract_common::isIdenticalMap<std::map<std::string, int>, int>(v1, v2);
EXPECT_FALSE(equal);
v2["2"] = 2;
equal = tesseract_common::isIdenticalMap<std::map<std::string, int>, int>(v1, v2);
EXPECT_FALSE(equal);
v2 = v1;
equal = tesseract_common::isIdenticalMap<std::map<std::string, int>, int>(v1, v2);
EXPECT_TRUE(equal);
v1.clear();
equal = tesseract_common::isIdenticalMap<std::map<std::string, int>, int>(v1, v2);
EXPECT_FALSE(equal);
}
TEST(TesseractCommonUnit, isIdenticalSetUnit) // NOLINT
{
std::set<int> v1;
std::set<int> v2;
bool equal = tesseract_common::isIdenticalSet<int>(v1, v2);
EXPECT_TRUE(equal);
v1.insert(1);
equal = tesseract_common::isIdenticalSet<int>(v1, v2);
EXPECT_FALSE(equal);
v2.insert(1);
v2.insert(2);
equal = tesseract_common::isIdenticalSet<int>(v1, v2);
EXPECT_FALSE(equal);
v1.insert(2);
equal = tesseract_common::isIdenticalSet<int>(v1, v2);
EXPECT_TRUE(equal);
}
TEST(TesseractCommonUnit, isIdenticalArrayUnit) // NOLINT
{
{
std::array<int, 4> v1 = { 1, 2, 3, 4 };
std::array<int, 4> v2 = { 1, 2, 3, 4 };
bool equal = tesseract_common::isIdenticalArray<int, 4>(v1, v2);
EXPECT_TRUE(equal);
}
{
std::array<int, 4> v1 = { 1, 2, 3, 4 };
std::array<int, 4> v2 = { -1, 2, 3, 4 };
bool equal = tesseract_common::isIdenticalArray<int, 4>(v1, v2);
EXPECT_FALSE(equal);
}
{
// Clang-tidy catches initialized arrays anyway, but check it just in case the caller isn't running clang-tidy
std::array<int, 4> v1 = { 1, 2, 3, 6 };
std::array<int, 4> v2; // NOLINT
bool equal = tesseract_common::isIdenticalArray<int, 4>(v1, v2);
EXPECT_FALSE(equal);
}
}
TEST(TesseractCommonUnit, pointersEqual) // NOLINT
{
{
auto p1 = std::make_shared<int>(1);
auto p2 = std::make_shared<int>(2);
bool equal = tesseract_common::pointersEqual(p1, p2);
EXPECT_FALSE(equal);
}
{
auto p1 = std::make_shared<int>(1);
auto p2 = nullptr;
bool equal = tesseract_common::pointersEqual<int>(p1, p2);
EXPECT_FALSE(equal);
}
{
auto p1 = nullptr;
auto p2 = std::make_shared<int>(2);
bool equal = tesseract_common::pointersEqual<int>(p1, p2);
EXPECT_FALSE(equal);
}
{
auto p1 = nullptr;
auto p2 = nullptr;
bool equal = tesseract_common::pointersEqual<int>(p1, p2);
EXPECT_TRUE(equal);
}
{
auto p1 = std::make_shared<int>(1);
auto p2 = std::make_shared<int>(1);
bool equal = tesseract_common::pointersEqual<int>(p1, p2);
EXPECT_TRUE(equal);
}
}
TEST(TesseractCommonUnit, pointersComparison) // NOLINT
{
// True if p1 < p2
{
auto p1 = std::make_shared<int>(1);
auto p2 = std::make_shared<int>(2);
bool equal = tesseract_common::pointersComparison<int>(p1, p2);
EXPECT_TRUE(equal);
}
{
auto p1 = std::make_shared<int>(1);
auto p2 = nullptr;
bool equal = tesseract_common::pointersComparison<int>(p1, p2);
EXPECT_FALSE(equal);
}
{
auto p1 = nullptr;
auto p2 = std::make_shared<int>(2);
bool equal = tesseract_common::pointersComparison<int>(p1, p2);
EXPECT_TRUE(equal);
}
{
auto p1 = nullptr;
auto p2 = nullptr;
bool equal = tesseract_common::pointersComparison<int>(p1, p2);
EXPECT_FALSE(equal);
}
{
auto p1 = std::make_shared<int>(1);
auto p2 = std::make_shared<int>(1);
bool equal = tesseract_common::pointersComparison<int>(p1, p2);
EXPECT_FALSE(equal);
}
}
TEST(TesseractCommonUnit, getTimestampStringUnit) // NOLINT
{
std::string s1 = tesseract_common::getTimestampString();
EXPECT_FALSE(s1.empty());
}
TEST(TesseractCommonUnit, reorder) // NOLINT
{
std::vector<std::vector<Eigen::Index>> checks;
checks.push_back({ 5, 4, 3, 2, 1, 0 });
checks.push_back({ 0, 1, 2, 3, 4, 5 });
checks.push_back({ 3, 2, 4, 1, 5, 0 });
Eigen::VectorXd v = Eigen::VectorXd::Random(6);
for (const auto& check : checks)
{
Eigen::VectorXd v_copy = v;
tesseract_common::reorder(v_copy, check);
for (std::size_t i = 0; i < check.size(); ++i)
{
EXPECT_NEAR(v_copy(static_cast<Eigen::Index>(i)), v(check[i]), 1e-8);
}
}
}
TEST(TesseractCommonUnit, getTempPathUnit) // NOLINT
{
std::string s1 = tesseract_common::getTempPath();
EXPECT_FALSE(s1.empty());
EXPECT_TRUE(tesseract_common::fs::exists(s1));
}
TEST(TesseractCommonUnit, QueryStringValueUnit) // NOLINT
{
{
std::string str = R"(<box>Test</box>)";
tinyxml2::XMLDocument xml_doc;
EXPECT_TRUE(xml_doc.Parse(str.c_str()) == tinyxml2::XML_SUCCESS);
tinyxml2::XMLElement* element = xml_doc.FirstChildElement("box");
EXPECT_TRUE(element != nullptr);
std::string string_value;
tinyxml2::XMLError status = tesseract_common::QueryStringValue(element, string_value);
EXPECT_TRUE(status == tinyxml2::XML_SUCCESS);
EXPECT_TRUE(string_value == "box");
}
}
TEST(TesseractCommonUnit, QueryStringTextUnit) // NOLINT
{
{
std::string str = R"(<box>Test</box>)";
tinyxml2::XMLDocument xml_doc;
EXPECT_TRUE(xml_doc.Parse(str.c_str()) == tinyxml2::XML_SUCCESS);
tinyxml2::XMLElement* element = xml_doc.FirstChildElement("box");
EXPECT_TRUE(element != nullptr);
std::string string_value;
tinyxml2::XMLError status = tesseract_common::QueryStringText(element, string_value);
EXPECT_TRUE(status == tinyxml2::XML_SUCCESS);
EXPECT_TRUE(string_value == "Test");
}
{
std::string str = R"(<box></box>)";
tinyxml2::XMLDocument xml_doc;
EXPECT_TRUE(xml_doc.Parse(str.c_str()) == tinyxml2::XML_SUCCESS);
tinyxml2::XMLElement* element = xml_doc.FirstChildElement("box");
EXPECT_TRUE(element != nullptr);
std::string string_value;
tinyxml2::XMLError status = tesseract_common::QueryStringText(element, string_value);
EXPECT_TRUE(status == tinyxml2::XML_NO_ATTRIBUTE);
}
}
TEST(TesseractCommonUnit, QueryStringAttributeUnit) // NOLINT
{
{
std::string str = R"(<box name="test" />)";
tinyxml2::XMLDocument xml_doc;
EXPECT_TRUE(xml_doc.Parse(str.c_str()) == tinyxml2::XML_SUCCESS);
tinyxml2::XMLElement* element = xml_doc.FirstChildElement("box");
EXPECT_TRUE(element != nullptr);
std::string string_value;
tinyxml2::XMLError status = tesseract_common::QueryStringAttribute(element, "name", string_value);
EXPECT_TRUE(status == tinyxml2::XML_SUCCESS);
EXPECT_TRUE(string_value == "test");
}
{
std::string str = R"(<box missing="test" />)";
tinyxml2::XMLDocument xml_doc;
EXPECT_TRUE(xml_doc.Parse(str.c_str()) == tinyxml2::XML_SUCCESS);
tinyxml2::XMLElement* element = xml_doc.FirstChildElement("box");
EXPECT_TRUE(element != nullptr);
std::string string_value;
tinyxml2::XMLError status = tesseract_common::QueryStringAttribute(element, "name", string_value);
EXPECT_TRUE(status == tinyxml2::XML_NO_ATTRIBUTE);
}
}
TEST(TesseractCommonUnit, StringAttributeUnit) // NOLINT
{
{
std::string str = R"(<box name="test" />)";
tinyxml2::XMLDocument xml_doc;
EXPECT_TRUE(xml_doc.Parse(str.c_str()) == tinyxml2::XML_SUCCESS);
tinyxml2::XMLElement* element = xml_doc.FirstChildElement("box");
EXPECT_TRUE(element != nullptr);
std::string string_value = tesseract_common::StringAttribute(element, "name", "default");
EXPECT_TRUE(string_value == "test");
}
{
std::string str = R"(<box name="test" />)";
tinyxml2::XMLDocument xml_doc;
EXPECT_TRUE(xml_doc.Parse(str.c_str()) == tinyxml2::XML_SUCCESS);
tinyxml2::XMLElement* element = xml_doc.FirstChildElement("box");
EXPECT_TRUE(element != nullptr);
std::string string_value = tesseract_common::StringAttribute(element, "missing", "default");
EXPECT_TRUE(string_value == "default");
}
}
TEST(TesseractCommonUnit, QueryStringAttributeRequiredUnit) // NOLINT
{
{
std::string str = R"(<box name="test" />)";
tinyxml2::XMLDocument xml_doc;
EXPECT_TRUE(xml_doc.Parse(str.c_str()) == tinyxml2::XML_SUCCESS);
tinyxml2::XMLElement* element = xml_doc.FirstChildElement("box");
EXPECT_TRUE(element != nullptr);
std::string string_value;
tinyxml2::XMLError status = tesseract_common::QueryStringAttributeRequired(element, "name", string_value);
EXPECT_TRUE(status == tinyxml2::XML_SUCCESS);
EXPECT_TRUE(string_value == "test");
}
{
std::string str = R"(<box name="test" />)";
tinyxml2::XMLDocument xml_doc;
EXPECT_TRUE(xml_doc.Parse(str.c_str()) == tinyxml2::XML_SUCCESS);
tinyxml2::XMLElement* element = xml_doc.FirstChildElement("box");
EXPECT_TRUE(element != nullptr);
std::string string_value;
tinyxml2::XMLError status = tesseract_common::QueryStringAttributeRequired(element, "missing", string_value);
EXPECT_TRUE(status == tinyxml2::XML_NO_ATTRIBUTE);
}
}
TEST(TesseractCommonUnit, QueryDoubleAttributeRequiredUnit) // NOLINT
{
{
std::string str = R"(<box name="1.5" />)";
tinyxml2::XMLDocument xml_doc;
EXPECT_TRUE(xml_doc.Parse(str.c_str()) == tinyxml2::XML_SUCCESS);
tinyxml2::XMLElement* element = xml_doc.FirstChildElement("box");
EXPECT_TRUE(element != nullptr);
double double_value{ 0 };
tinyxml2::XMLError status = tesseract_common::QueryDoubleAttributeRequired(element, "name", double_value);
EXPECT_TRUE(status == tinyxml2::XML_SUCCESS);
EXPECT_NEAR(double_value, 1.5, 1e-6);
}
{
std::string str = R"(<box name="1.5" />)";
tinyxml2::XMLDocument xml_doc;
EXPECT_TRUE(xml_doc.Parse(str.c_str()) == tinyxml2::XML_SUCCESS);
tinyxml2::XMLElement* element = xml_doc.FirstChildElement("box");
EXPECT_TRUE(element != nullptr);
double double_value{ 0 };
tinyxml2::XMLError status = tesseract_common::QueryDoubleAttributeRequired(element, "missing", double_value);
EXPECT_TRUE(status == tinyxml2::XML_NO_ATTRIBUTE);
}
{
std::string str = R"(<box name="abc" />)";
tinyxml2::XMLDocument xml_doc;
EXPECT_TRUE(xml_doc.Parse(str.c_str()) == tinyxml2::XML_SUCCESS);
tinyxml2::XMLElement* element = xml_doc.FirstChildElement("box");
EXPECT_TRUE(element != nullptr);
double double_value{ 0 };
tinyxml2::XMLError status = tesseract_common::QueryDoubleAttributeRequired(element, "name", double_value);
EXPECT_TRUE(status == tinyxml2::XML_WRONG_ATTRIBUTE_TYPE);
}
}
TEST(TesseractCommonUnit, QueryIntAttributeRequiredUnit) // NOLINT
{
{
std::string str = R"(<box name="1" />)";
tinyxml2::XMLDocument xml_doc;
EXPECT_TRUE(xml_doc.Parse(str.c_str()) == tinyxml2::XML_SUCCESS);
tinyxml2::XMLElement* element = xml_doc.FirstChildElement("box");
EXPECT_TRUE(element != nullptr);
int int_value{ 0 };
tinyxml2::XMLError status = tesseract_common::QueryIntAttributeRequired(element, "name", int_value);
EXPECT_TRUE(status == tinyxml2::XML_SUCCESS);
EXPECT_NEAR(int_value, 1, 1e-6);
}
{
std::string str = R"(<box name="1.5" />)";
tinyxml2::XMLDocument xml_doc;
EXPECT_TRUE(xml_doc.Parse(str.c_str()) == tinyxml2::XML_SUCCESS);
tinyxml2::XMLElement* element = xml_doc.FirstChildElement("box");
EXPECT_TRUE(element != nullptr);
int int_value{ 0 };
tinyxml2::XMLError status = tesseract_common::QueryIntAttributeRequired(element, "missing", int_value);
EXPECT_TRUE(status == tinyxml2::XML_NO_ATTRIBUTE);
}
{
std::string str = R"(<box name="abc" />)";
tinyxml2::XMLDocument xml_doc;
EXPECT_TRUE(xml_doc.Parse(str.c_str()) == tinyxml2::XML_SUCCESS);
tinyxml2::XMLElement* element = xml_doc.FirstChildElement("box");
EXPECT_TRUE(element != nullptr);
int int_value{ 0 };
tinyxml2::XMLError status = tesseract_common::QueryIntAttributeRequired(element, "name", int_value);
EXPECT_TRUE(status == tinyxml2::XML_WRONG_ATTRIBUTE_TYPE);
}
}
// sample function that catches an exception and wraps it in a nested exception
void runThrowNestedException()
{
try
{
throw std::runtime_error("failed");
}
catch (...)
{
std::throw_with_nested(std::runtime_error("runThrowNestedException() failed"));
}
}
TEST(TesseractCommonUnit, printNestedExceptionUnit) // NOLINT
{
try
{
runThrowNestedException();
}
catch (const std::exception& e)
{
tesseract_common::printNestedException(e);
}
}
TEST(TesseractCommonUnit, almostEqualRelativeAndAbsUnit) // NOLINT
{
double a = 1e-5;
double b = 0;
EXPECT_FALSE(tesseract_common::almostEqualRelativeAndAbs(a, b));
a = 1e-7;
EXPECT_TRUE(tesseract_common::almostEqualRelativeAndAbs(a, b));
a = 100000000000000.01;
b = 100000000000000;
EXPECT_TRUE(tesseract_common::almostEqualRelativeAndAbs(a, b));
a = 100000000000000.1;
b = 100000000000000;
EXPECT_FALSE(tesseract_common::almostEqualRelativeAndAbs(a, b));
Eigen::VectorXd v1 = Eigen::VectorXd::Constant(3, 1e-5);
Eigen::VectorXd v2 = Eigen::VectorXd::Constant(3, 0);
EXPECT_FALSE(tesseract_common::almostEqualRelativeAndAbs(v1, v2));
v1 = Eigen::VectorXd::Constant(3, 1e-7);
EXPECT_TRUE(tesseract_common::almostEqualRelativeAndAbs(v1, v2));
v1 = Eigen::VectorXd::Constant(3, 100000000000000.01);
v2 = Eigen::VectorXd::Constant(3, 100000000000000);
EXPECT_TRUE(tesseract_common::almostEqualRelativeAndAbs(v1, v2));
v1 = Eigen::VectorXd::Constant(3, 100000000000000.1);
v2 = Eigen::VectorXd::Constant(3, 100000000000000);
EXPECT_FALSE(tesseract_common::almostEqualRelativeAndAbs(v1, v2));
v2 = Eigen::VectorXd::Constant(1, 100000000000000);
EXPECT_FALSE(tesseract_common::almostEqualRelativeAndAbs(v1, v2));
EXPECT_TRUE(tesseract_common::almostEqualRelativeAndAbs(Eigen::VectorXd(), Eigen::VectorXd()));
}
TEST(TesseractCommonUnit, kinematicsPluginInfoUnit) // NOLINT
{
tesseract_common::KinematicsPluginInfo kpi;
EXPECT_TRUE(kpi.empty());
tesseract_common::KinematicsPluginInfo kpi_insert;
kpi_insert.search_paths.insert("/usr/local/lib");
kpi_insert.search_libraries.insert("tesseract_collision");
{
tesseract_common::PluginInfo pi;
pi.class_name = "KDLFwdKin";
kpi_insert.fwd_plugin_infos["manipulator"].plugins = { std::make_pair("KDLFwdKin", pi) };
kpi_insert.fwd_plugin_infos["manipulator"].default_plugin = "KDLFwdKin";
}
{
tesseract_common::PluginInfo pi;
pi.class_name = "KDLInvKin";
kpi_insert.inv_plugin_infos["manipulator"].plugins = { std::make_pair("KDLInvKin", pi) };
kpi_insert.inv_plugin_infos["manipulator"].default_plugin = "KDLInvKin";
}
EXPECT_FALSE(kpi_insert.empty());
EXPECT_NE(kpi, kpi_insert);
kpi.insert(kpi_insert);
EXPECT_FALSE(kpi.empty());
EXPECT_EQ(kpi, kpi_insert);
kpi.clear();
EXPECT_TRUE(kpi.empty());
}
TEST(TesseractCommonUnit, ContactManagersPluginInfoUnit) // NOLINT
{
tesseract_common::ContactManagersPluginInfo cmpi;
EXPECT_TRUE(cmpi.empty());
tesseract_common::ContactManagersPluginInfo cmpi_insert;
cmpi_insert.search_paths.insert("/usr/local/lib");
cmpi_insert.search_libraries.insert("tesseract_collision");
{
tesseract_common::PluginInfo pi;
pi.class_name = "DiscretePluginFactory";
cmpi_insert.discrete_plugin_infos.plugins = { std::make_pair("DiscretePlugin", pi) };
cmpi_insert.discrete_plugin_infos.default_plugin = "DiscretePlugin";
}
{
tesseract_common::PluginInfo pi;
pi.class_name = "ContinuousPluginFactory";
cmpi_insert.continuous_plugin_infos.plugins = { std::make_pair("ContinuousPlugin", pi) };
cmpi_insert.continuous_plugin_infos.default_plugin = "ContinuousPlugin";
}
EXPECT_FALSE(cmpi_insert.empty());
EXPECT_NE(cmpi, cmpi_insert);
cmpi.insert(cmpi_insert);
EXPECT_FALSE(cmpi.empty());
EXPECT_EQ(cmpi, cmpi_insert);
cmpi.clear();
EXPECT_TRUE(cmpi.empty());
}
TEST(TesseractCommonUnit, TaskComposerPluginInfoUnit) // NOLINT
{
tesseract_common::TaskComposerPluginInfo tcpi;