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Fix Serialization and Remove TesseractSupportResourceLocator #1051

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merged 2 commits into from
Oct 12, 2024
Merged

Fix Serialization and Remove TesseractSupportResourceLocator #1051

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416140f
Fix serialization
Levi-Armstrong Oct 11, 2024
99fc6c7
Remove TesseractSupportResourceLocator
Levi-Armstrong Oct 11, 2024
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2 changes: 0 additions & 2 deletions tesseract_collision/examples/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,10 +1,8 @@
find_package(tesseract_support REQUIRED)
add_executable(${PROJECT_NAME}_box_box_example box_box_example.cpp)
target_link_libraries(
${PROJECT_NAME}_box_box_example
${PROJECT_NAME}_bullet
${PROJECT_NAME}_fcl
tesseract::tesseract_support
tesseract::tesseract_geometry
console_bridge::console_bridge
${Boost_LIBRARIES}
Expand Down
7 changes: 6 additions & 1 deletion tesseract_collision/examples/box_box_example.cpp
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Expand Up @@ -6,6 +6,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_collision/bullet/bullet_discrete_bvh_manager.h>
#include <tesseract_collision/bullet/convex_hull_utils.h>
#include <tesseract_geometry/impl/box.h>
#include <tesseract_common/resource_locator.h>

using namespace tesseract_collision;
using namespace tesseract_geometry;
Expand Down Expand Up @@ -57,11 +58,15 @@ int main(int /*argc*/, char** /*argv*/)

// documentation:start:4: Add convex hull
// Add second box to checker, but convert to convex hull mesh
tesseract_common::GeneralResourceLocator locator;
CollisionShapePtr second_box;

auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
auto mesh_faces = std::make_shared<Eigen::VectorXi>();
loadSimplePlyFile(std::string(TESSERACT_SUPPORT_DIR) + "/meshes/box_2m.ply", *mesh_vertices, *mesh_faces, true);
loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/box_2m.ply")->getFilePath(),
*mesh_vertices,
*mesh_faces,
true);

auto mesh = std::make_shared<tesseract_geometry::Mesh>(mesh_vertices, mesh_faces);
second_box = makeConvexMesh(*mesh);
Expand Down
2 changes: 0 additions & 2 deletions tesseract_collision/test/benchmarks/CMakeLists.txt
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@@ -1,5 +1,4 @@
find_package(benchmark REQUIRED)
find_package(tesseract_support REQUIRED)
find_package(tesseract_scene_graph REQUIRED)

macro(add_benchmark benchmark_name benchmark_file)
Expand Down Expand Up @@ -43,7 +42,6 @@ target_link_libraries(
PRIVATE ${PROJECT_NAME}_bullet
${PROJECT_NAME}_fcl
tesseract::tesseract_geometry
tesseract::tesseract_support
${Boost_LIBRARIES}
${OCTOMAP_LIBRARIES}
${LIBFCL_LIBRARIES})
Expand Down
18 changes: 13 additions & 5 deletions tesseract_collision/test/benchmarks/collision_profile.cpp
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Expand Up @@ -13,7 +13,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_collision/fcl/fcl_discrete_managers.h>

#include <tesseract_geometry/impl/sphere.h>

#include <tesseract_common/resource_locator.h>
static const std::size_t DIM = 10;

using namespace tesseract_collision;
Expand All @@ -31,8 +31,12 @@ void addCollisionObjects(DiscreteContactManager& checker, bool use_single_link,
{
auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
auto mesh_faces = std::make_shared<Eigen::VectorXi>();
loadSimplePlyFile(
std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.ply", *mesh_vertices, *mesh_faces, true);

tesseract_common::GeneralResourceLocator locator;
loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/sphere_p25m.ply")->getFilePath(),
*mesh_vertices,
*mesh_faces,
true);

auto mesh = std::make_shared<tesseract_geometry::Mesh>(mesh_vertices, mesh_faces);
sphere = makeConvexMesh(*mesh);
Expand Down Expand Up @@ -98,8 +102,12 @@ void addCollisionObjects(ContinuousContactManager& checker, bool use_single_link
{
auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
auto mesh_faces = std::make_shared<Eigen::VectorXi>();
loadSimplePlyFile(
std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.ply", *mesh_vertices, *mesh_faces, true);

tesseract_common::GeneralResourceLocator locator;
loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/sphere_p25m.ply")->getFilePath(),
*mesh_vertices,
*mesh_faces,
true);

auto mesh = std::make_shared<tesseract_geometry::Mesh>(mesh_vertices, mesh_faces);
sphere = makeConvexMesh(*mesh);
Expand Down
14 changes: 4 additions & 10 deletions tesseract_collision/test_suite/CMakeLists.txt
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@@ -1,12 +1,7 @@
find_package(tesseract_support REQUIRED)
# Create test suite interface
add_library(${PROJECT_NAME}_test_suite INTERFACE)
target_link_libraries(
${PROJECT_NAME}_test_suite
INTERFACE Eigen3::Eigen
tesseract::tesseract_support
tesseract::tesseract_geometry
${PROJECT_NAME}_core)
target_link_libraries(${PROJECT_NAME}_test_suite INTERFACE Eigen3::Eigen tesseract::tesseract_geometry
${PROJECT_NAME}_core)
target_compile_options(${PROJECT_NAME}_test_suite INTERFACE ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
target_compile_definitions(${PROJECT_NAME}_test_suite INTERFACE ${TESSERACT_COMPILE_DEFINITIONS})
target_cxx_version(${PROJECT_NAME}_test_suite INTERFACE VERSION ${TESSERACT_CXX_VERSION})
Expand All @@ -16,8 +11,7 @@ target_include_directories(${PROJECT_NAME}_test_suite INTERFACE "$<BUILD_INTERFA

# Create test suite benchmarks interface
add_library(${PROJECT_NAME}_test_suite_benchmarks INTERFACE)
target_link_libraries(${PROJECT_NAME}_test_suite_benchmarks INTERFACE Eigen3::Eigen tesseract::tesseract_support
tesseract::tesseract_geometry)
target_link_libraries(${PROJECT_NAME}_test_suite_benchmarks INTERFACE Eigen3::Eigen tesseract::tesseract_geometry)
target_compile_options(${PROJECT_NAME}_test_suite_benchmarks INTERFACE ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
target_cxx_version(${PROJECT_NAME}_test_suite_benchmarks INTERFACE VERSION ${TESSERACT_CXX_VERSION})
target_clang_tidy(${PROJECT_NAME}_test_suite_benchmarks ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
Expand All @@ -38,7 +32,7 @@ configure_component(
COMPONENT test_suite
NAMESPACE tesseract
TARGETS ${PROJECT_NAME}_test_suite ${PROJECT_NAME}_test_suite_benchmarks
DEPENDENCIES tesseract_support "tesseract_collision COMPONENTS core")
DEPENDENCIES "tesseract_collision COMPONENTS core")

if(TESSERACT_PACKAGE)
cpack_component(
Expand Down
15 changes: 13 additions & 2 deletions ...test_suite/include/tesseract_collision/test_suite/benchmarks/large_dataset_benchmarks.hpp
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Expand Up @@ -10,6 +10,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_collision/core/discrete_contact_manager.h>
#include <tesseract_collision/core/common.h>
#include <tesseract_geometry/geometries.h>
#include <tesseract_common/resource_locator.h>

namespace tesseract_collision
{
Expand All @@ -27,7 +28,12 @@ static void BM_LARGE_DATASET_MULTILINK(benchmark::State& state,

auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
auto mesh_faces = std::make_shared<Eigen::VectorXi>();
loadSimplePlyFile(std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.ply", *mesh_vertices, *mesh_faces, true);

tesseract_common::GeneralResourceLocator locator;
loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/sphere_p25m.ply")->getFilePath(),
*mesh_vertices,
*mesh_faces,
true);

switch (type)
{
Expand Down Expand Up @@ -111,7 +117,12 @@ static void BM_LARGE_DATASET_SINGLELINK(benchmark::State& state,

auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
auto mesh_faces = std::make_shared<Eigen::VectorXi>();
loadSimplePlyFile(std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.ply", *mesh_vertices, *mesh_faces, true);

tesseract_common::GeneralResourceLocator locator;
loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/sphere_p25m.ply")->getFilePath(),
*mesh_vertices,
*mesh_faces,
true);

switch (type)
{
Expand Down
8 changes: 6 additions & 2 deletions ...ct_collision/test_suite/include/tesseract_collision/test_suite/collision_box_box_unit.hpp
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Expand Up @@ -6,6 +6,7 @@
#include <tesseract_collision/core/discrete_contact_manager.h>
#include <tesseract_collision/core/common.h>
#include <tesseract_geometry/geometries.h>
#include <tesseract_common/resource_locator.h>

namespace tesseract_collision::test_suite
{
Expand Down Expand Up @@ -54,8 +55,11 @@ inline void addCollisionObjects(DiscreteContactManager& checker, bool use_convex
auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
auto mesh_faces = std::make_shared<Eigen::VectorXi>();
// TODO: Need to figure out why this test not pass of bullet when using the box_2m.ply mesh
EXPECT_GT(loadSimplePlyFile(
std::string(TESSERACT_SUPPORT_DIR) + "/meshes/box2_2m.ply", *mesh_vertices, *mesh_faces, true),
tesseract_common::GeneralResourceLocator locator;
EXPECT_GT(loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/box2_2m.ply")->getFilePath(),
*mesh_vertices,
*mesh_faces,
true),
0);

auto mesh = std::make_shared<tesseract_geometry::Mesh>(mesh_vertices, mesh_faces);
Expand Down
11 changes: 8 additions & 3 deletions ...collision/test_suite/include/tesseract_collision/test_suite/collision_box_sphere_unit.hpp
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Expand Up @@ -5,6 +5,7 @@
#include <tesseract_collision/core/discrete_contact_manager.h>
#include <tesseract_collision/core/common.h>
#include <tesseract_geometry/geometries.h>
#include <tesseract_common/resource_locator.h>

namespace tesseract_collision::test_suite
{
Expand Down Expand Up @@ -52,9 +53,13 @@ inline void addCollisionObjects(DiscreteContactManager& checker, bool use_convex
{
auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
auto mesh_faces = std::make_shared<Eigen::VectorXi>();
EXPECT_GT(loadSimplePlyFile(
std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.ply", *mesh_vertices, *mesh_faces, true),
0);
tesseract_common::GeneralResourceLocator locator;
EXPECT_GT(
loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/sphere_p25m.ply")->getFilePath(),
*mesh_vertices,
*mesh_faces,
true),
0);

auto mesh = std::make_shared<tesseract_geometry::Mesh>(mesh_vertices, mesh_faces);
sphere = makeConvexMesh(*mesh);
Expand Down
4 changes: 3 additions & 1 deletion ...on/test_suite/include/tesseract_collision/test_suite/collision_compound_compound_unit.hpp
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Expand Up @@ -9,6 +9,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_collision/core/discrete_contact_manager.h>
#include <tesseract_collision/core/continuous_contact_manager.h>
#include <tesseract_geometry/geometries.h>
#include <tesseract_common/resource_locator.h>

namespace tesseract_collision::test_suite
{
Expand All @@ -20,7 +21,8 @@ inline void addCollisionObjects(T& checker)
/////////////////////////////////////////////////////////////////
// Add Octomap
/////////////////////////////////////////////////////////////////
std::string path = std::string(TESSERACT_SUPPORT_DIR) + "/meshes/box_2m.bt";
tesseract_common::GeneralResourceLocator locator;
std::string path = locator.locateResource("package://tesseract_support/meshes/box_2m.bt")->getFilePath();
auto ot = std::make_shared<octomap::OcTree>(path);
CollisionShapePtr dense_octomap =
std::make_shared<tesseract_geometry::Octree>(ot, tesseract_geometry::OctreeSubType::BOX);
Expand Down
11 changes: 8 additions & 3 deletions ...lision/test_suite/include/tesseract_collision/test_suite/collision_large_dataset_unit.hpp
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Expand Up @@ -11,6 +11,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_collision/core/discrete_contact_manager.h>
#include <tesseract_collision/core/common.h>
#include <tesseract_geometry/geometries.h>
#include <tesseract_common/resource_locator.h>

namespace tesseract_collision::test_suite
{
Expand All @@ -23,9 +24,13 @@ inline void runTest(DiscreteContactManager& checker, bool use_convex_mesh = fals
{
auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
auto mesh_faces = std::make_shared<Eigen::VectorXi>();
EXPECT_GT(loadSimplePlyFile(
std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.ply", *mesh_vertices, *mesh_faces, true),
0);
tesseract_common::GeneralResourceLocator locator;
EXPECT_GT(
loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/sphere_p25m.ply")->getFilePath(),
*mesh_vertices,
*mesh_faces,
true),
0);

auto mesh = std::make_shared<tesseract_geometry::Mesh>(mesh_vertices, mesh_faces);
sphere = makeConvexMesh(*mesh);
Expand Down
7 changes: 6 additions & 1 deletion ..._collision/test_suite/include/tesseract_collision/test_suite/collision_mesh_mesh_unit.hpp
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Expand Up @@ -4,6 +4,7 @@
#include <tesseract_collision/core/discrete_contact_manager.h>
#include <tesseract_collision/core/common.h>
#include <tesseract_geometry/geometries.h>
#include <tesseract_common/resource_locator.h>

namespace tesseract_collision::test_suite
{
Expand All @@ -18,8 +19,12 @@ inline void addCollisionObjects(DiscreteContactManager& checker)

auto vertices = std::make_shared<tesseract_common::VectorVector3d>();
auto faces = std::make_shared<Eigen::VectorXi>();
tesseract_common::GeneralResourceLocator locator;
int num_faces =
loadSimplePlyFile(std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.ply", *vertices, *faces, true);
loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/sphere_p25m.ply")->getFilePath(),
*vertices,
*faces,
true);
EXPECT_GT(num_faces, 0);

sphere = std::make_shared<tesseract_geometry::Mesh>(vertices, faces);
Expand Down
11 changes: 8 additions & 3 deletions ...ision/test_suite/include/tesseract_collision/test_suite/collision_multi_threaded_unit.hpp
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Expand Up @@ -11,6 +11,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_collision/core/discrete_contact_manager.h>
#include <tesseract_collision/core/common.h>
#include <tesseract_geometry/geometries.h>
#include <tesseract_common/resource_locator.h>

namespace tesseract_collision::test_suite
{
Expand All @@ -22,9 +23,13 @@ inline void runTest(DiscreteContactManager& checker, bool use_convex_mesh = fals
{
auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
auto mesh_faces = std::make_shared<Eigen::VectorXi>();
EXPECT_GT(loadSimplePlyFile(
std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.ply", *mesh_vertices, *mesh_faces, true),
0);
tesseract_common::GeneralResourceLocator locator;
EXPECT_GT(
loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/sphere_p25m.ply")->getFilePath(),
*mesh_vertices,
*mesh_faces,
true),
0);

auto mesh = std::make_shared<tesseract_geometry::Mesh>(mesh_vertices, mesh_faces);
sphere = makeConvexMesh(*mesh);
Expand Down
8 changes: 6 additions & 2 deletions ...llision/test_suite/include/tesseract_collision/test_suite/collision_octomap_mesh_unit.hpp
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Expand Up @@ -11,6 +11,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_collision/core/discrete_contact_manager.h>
#include <tesseract_collision/core/common.h>
#include <tesseract_geometry/geometries.h>
#include <tesseract_common/resource_locator.h>

namespace tesseract_collision::test_suite
{
Expand All @@ -21,7 +22,8 @@ inline void addCollisionObjects(DiscreteContactManager& checker)
/////////////////////////////////////////////////////////////////
// Add Octomap
/////////////////////////////////////////////////////////////////
std::string path = std::string(TESSERACT_SUPPORT_DIR) + "/meshes/box_2m.bt";
tesseract_common::GeneralResourceLocator locator;
std::string path = locator.locateResource("package://tesseract_support/meshes/box_2m.bt")->getFilePath();
auto ot = std::make_shared<octomap::OcTree>(path);
CollisionShapePtr dense_octomap =
std::make_shared<tesseract_geometry::Octree>(ot, tesseract_geometry::OctreeSubType::BOX);
Expand All @@ -39,7 +41,9 @@ inline void addCollisionObjects(DiscreteContactManager& checker)
// Add plane mesh to checker.
/////////////////////////////////////////////////////////////////
CollisionShapePtr sphere = tesseract_geometry::createMeshFromPath<tesseract_geometry::Mesh>(
std::string(TESSERACT_SUPPORT_DIR) + "/meshes/plane_4m.stl", Eigen::Vector3d(1, 1, 1), true)[0];
locator.locateResource("package://tesseract_support/meshes/plane_4m.stl")->getFilePath(),
Eigen::Vector3d(1, 1, 1),
true)[0];

Eigen::Isometry3d sphere_pose;
sphere_pose.setIdentity();
Expand Down
4 changes: 3 additions & 1 deletion ...sion/test_suite/include/tesseract_collision/test_suite/collision_octomap_octomap_unit.hpp
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Expand Up @@ -9,6 +9,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_collision/core/discrete_contact_manager.h>
#include <tesseract_collision/core/continuous_contact_manager.h>
#include <tesseract_geometry/geometries.h>
#include <tesseract_common/resource_locator.h>

namespace tesseract_collision::test_suite
{
Expand All @@ -20,7 +21,8 @@ inline void addCollisionObjects(T& checker)
/////////////////////////////////////////////////////////////////
// Add Octomap
/////////////////////////////////////////////////////////////////
std::string path = std::string(TESSERACT_SUPPORT_DIR) + "/meshes/box_2m.bt";
tesseract_common::GeneralResourceLocator locator;
std::string path = locator.locateResource("package://tesseract_support/meshes/box_2m.bt")->getFilePath();
auto ot = std::make_shared<octomap::OcTree>(path);
CollisionShapePtr dense_octomap =
std::make_shared<tesseract_geometry::Octree>(ot, tesseract_geometry::OctreeSubType::SPHERE_OUTSIDE);
Expand Down
13 changes: 9 additions & 4 deletions ...ision/test_suite/include/tesseract_collision/test_suite/collision_octomap_sphere_unit.hpp
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Expand Up @@ -12,6 +12,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_collision/core/discrete_contact_manager.h>
#include <tesseract_collision/core/common.h>
#include <tesseract_geometry/geometries.h>
#include <tesseract_common/resource_locator.h>

namespace tesseract_collision::test_suite
{
Expand All @@ -22,7 +23,8 @@ inline void addCollisionObjects(DiscreteContactManager& checker, bool use_convex
/////////////////////////////////////////////////////////////////
// Add Octomap
/////////////////////////////////////////////////////////////////
std::string path = std::string(TESSERACT_SUPPORT_DIR) + "/meshes/blender_monkey.bt";
tesseract_common::GeneralResourceLocator locator;
std::string path = locator.locateResource("package://tesseract_support/meshes/blender_monkey.bt")->getFilePath();
auto ot = std::make_shared<octomap::OcTree>(path);
CollisionShapePtr dense_octomap =
std::make_shared<tesseract_geometry::Octree>(ot, tesseract_geometry::OctreeSubType::BOX);
Expand All @@ -46,9 +48,12 @@ inline void addCollisionObjects(DiscreteContactManager& checker, bool use_convex
{
auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
auto mesh_faces = std::make_shared<Eigen::VectorXi>();
EXPECT_GT(loadSimplePlyFile(
std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.ply", *mesh_vertices, *mesh_faces, true),
0);
EXPECT_GT(
loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/sphere_p25m.ply")->getFilePath(),
*mesh_vertices,
*mesh_faces,
true),
0);

auto mesh = std::make_shared<tesseract_geometry::Mesh>(mesh_vertices, mesh_faces);
sphere = makeConvexMesh(*mesh);
Expand Down
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