Generic collision detection test suite #1543
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j-petit
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BryceStevenWilley
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moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common.h
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moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common.h
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| acm_.reset(new collision_detection::AllowedCollisionMatrix(robot_model_->getLinkModelNames(), true)); | ||
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| collision_detection::CollisionDetectorAllocatorPtr alloc(new T); |
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Do you need a new T here, or can you reference the pointer to value_, i.e. alloc(&value_);?
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No, this does not work as, I get a double free error. I think the reason is that the shared pointer deletes the managed object and the destructor of the object also tries that and then the corruption occurs.
I now initialized the value_ member as a shared pointer.
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rhaschke
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BryceStevenWilley
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Jul 24, 2019
Generalize collision detection tests by using a templated test fixture.
j-petit
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Aug 23, 2019
Generalize collision detection tests by using a templated test fixture.
j-petit
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Nov 20, 2019
Generalize collision detection tests by using a templated test fixture.
j-petit
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Jan 12, 2020
Generalize collision detection tests by using a templated test fixture.
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Jan 23, 2020
* Empty collision checker template for usage with tesseract and bullet (#1499) * Adding documentation to collision detection (#1488) * CMake adaptions for Tesseract integration * Empty collision detector template for tesseract and bullet * Making bullet as a collision plugin available * Adding missing error messages * Adding new folders and libraries to cmake * Fixing the BSD license * clang-format * Generic collision detection test suite (#1543) Generalize collision detection tests by using a templated test fixture. * Bullet Collision Detection (#1504) * Added discrete BVH Bullet manager * Added continuous collision detection * Cleanup of tesseract code * removed simple collision managers * changed enum to enum classes * fixed typos * removing debugging statements * removing tesseract allowed collision matrix * removed tesseract macros * replaced typedefs of stl containers * removed tesseract attached object code * ACM members of collision robot and world removed and ACM check into callback out of class * remove ContactTestType and replace through MoveIt CollisionRequest * BodyType int changed to enum * removed tesseract_msgs dependency and unnecessary tesseract code * changed dependency from bullet3_ros to debian Bullet package * Adding bullet and tesseract simple collision manager to the template: * added benchmark case for checking collision speed * tests for bullet collision checking * Adding missing features: * attached objects * contact reporting max number of contacts fixed * Bullet plugin xml name fixed * padding and scaling for robot added * updated tests * Adding continuous collision detection to Bullet (#1551) * Adding continous collision detection: * check only active links added * benchmark FCL vs Bullet * renaming files from bt to bullet * renaming variables from bt to bullet * clang-tidy and clang-format * renaming of variables to be in moveit format * continuous tests added * CCD active links changed * distance testing added to panda test suite * New collision features: * broadphase early culling * minimal distance reporting * renaming collision filter and group * removed extra margin on AABB for bullet * ACM in test from SRDF * PR review * Unified Collision Environment Bullet (#1572) * Templated tests adapted for unified collision env * Unified Bullet collision environment: * broadphase filtering adapted for early culling * ACM from SRDF in test * cleanup for bullet single collision env * removed link2castcow for CCD and only use constructor of COW directly * parent class for collision managers * removed function pointer for ACM check * removed extra self-collision manager and use only single manager * speed benchmark for unified environment * PR review: * more descriptive variable names * added user to TODO * PR review: * shortening namespace * documentation improvements * virtual destructor of BVH manager * remove extra speed benchmark * bugfix for not initialized managers * Licenses revised of old tesseract files * PR review: * replaced include guards through pragma * used default instead of empty {} for ctor/dtor * Comments in Bullet readme about thread safety and speed * Readme for speed benchmark (#1648) * FCL Bullet benchmark readme * Benchmark script and launch file updated * PR review fixups * Adapt cmake for Bullet (#1744) * cmake for using Bullet only if correct version available * Fixup * PR review fixup * Rewrite with own FindBullet.cmake * Use pkg-config * Fix travis failure for melodic * Fix moveit_ros_planning dependency on Bullet * Rename PR2-related collision test files (#1856)
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Jun 21, 2024
…it#1543) * [Servo] Use a WallRate so the clock is monotonically increasing * Re-enable a commented integration test
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Description
To share the same test cases across different collision checkers, I changed the originally for FCL designed test cases to a generic typed test suite. Consequently, I also moved the test implementation out of the FCL folder and into the general
collision_detection. For testing a specific collision checker, one can now simply include the tests and instantiate them with the specific type.To make the changes easy to see, take a look at the first commit which contains the changes to the test whereas the second one deals with moving the files.
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