SurgSim::Testing Namespace Reference

Namespaces
	Cube

Classes
class	MockInputComponent
	A MockInputComponent allows Components to test connections with devices without using an instance of DeviceInterface (and then an InputManager to connect the device with the InputComponent, etc). More...
struct	MockInputOutput
class	MockPhysicsManager
	Testing class used to publicly expose PhysicsManager's protected member functions. More...

Functions
SurgSim::Math::RigidTransform3d	interpolatePose (const Vector3d &startAngles, const Vector3d &endAngles, const Vector3d &startPosition, const Vector3d &endPosition, const double &t)
template<>
SurgSim::Math::Quaterniond	interpolate (const SurgSim::Math::Quaterniond &start, const SurgSim::Math::Quaterniond &end, const double &t)
template<>
SurgSim::Math::RigidTransform3d	interpolate (const SurgSim::Math::RigidTransform3d &start, const SurgSim::Math::RigidTransform3d &end, const double &t)
template<class T >
T	interpolate (const T &start, const T &end, const double &t)
	Does a linear interpolation between the start and the end dependent on t. More...
template<class T >
T	interpolate (const std::pair< T, T > &values, const double &t)
template<>
SurgSim::Math::Quaterniond	interpolate< SurgSim::Math::Quaterniond > (const SurgSim::Math::Quaterniond &start, const SurgSim::Math::Quaterniond &end, const double &t)
	Specialized template to call the correct function for Quaterniond, might be superfluous, delegates to the eigen interpolation function for Quaterniond. More...
template<>
SurgSim::Math::RigidTransform3d	interpolate< SurgSim::Math::RigidTransform3d > (const SurgSim::Math::RigidTransform3d &start, const SurgSim::Math::RigidTransform3d &end, const double &t)
	Specialized template to call the correct function for RigidTransform3d, might be superfluous, delegates to the eigen interpolation function for RigidTransform3d. More...
SurgSim::Math::RigidTransform3d	interpolatePose (const SurgSim::Math::Vector3d &startAngles, const SurgSim::Math::Vector3d &endAngles, const SurgSim::Math::Vector3d &startPosition, const SurgSim::Math::Vector3d &endPosition, const double &t)
	Does a linear interpolation on a pose, given Vector3d for angles and positions. More...
template<class Container >
bool	doesContain (const Container &container, const typename Container::value_type &value)
	Predicate to use to test whether a container contains a certain element. More...

Function Documentation

doesContain()

template<class Container >

bool SurgSim::Testing::doesContain	(	const Container &	container,
		const typename Container::value_type &	value
	)

Predicate to use to test whether a container contains a certain element.

Template Parameters

Container

type, can usually be deduced

Parameters

container	the container to be tested
value	the value to check for

Returns

true when the container contains the given value

Note

for maps the value type is std::pair<key, mapped_type>

interpolate() [1/4]

template<class T >

T SurgSim::Testing::interpolate	(	const T &	start,
		const T &	end,
		const double &	t
	)

Does a linear interpolation between the start and the end dependent on t.

Template Parameters

T	The type of value to be interpolated.

Parameters

start	The start value.
end	The end value.
t	The percentage for the interpolation.

Returns

the interpolated value.

interpolate() [2/4]

template<class T >

T SurgSim::Testing::interpolate	(	const std::pair< T, T > &	values,
		const double &	t
	)

interpolate() [3/4]

template<>

SurgSim::Math::Quaterniond SurgSim::Testing::interpolate	(	const SurgSim::Math::Quaterniond &	start,
		const SurgSim::Math::Quaterniond &	end,
		const double &	t
	)

interpolate() [4/4]

template<>

SurgSim::Math::RigidTransform3d SurgSim::Testing::interpolate	(	const SurgSim::Math::RigidTransform3d &	start,
		const SurgSim::Math::RigidTransform3d &	end,
		const double &	t
	)

interpolate< SurgSim::Math::Quaterniond >()

template<>

SurgSim::Math::Quaterniond SurgSim::Testing::interpolate< SurgSim::Math::Quaterniond >	(	const SurgSim::Math::Quaterniond &	start,
		const SurgSim::Math::Quaterniond &	end,
		const double &	t
	)

Specialized template to call the correct function for Quaterniond, might be superfluous, delegates to the eigen interpolation function for Quaterniond.

Parameters

start	The start quaternion.
end	The end quaternion.
t	The percentage for the interpolation.

Returns

the interpolated quaternion.

interpolate< SurgSim::Math::RigidTransform3d >()

template<>

SurgSim::Math::RigidTransform3d SurgSim::Testing::interpolate< SurgSim::Math::RigidTransform3d >	(	const SurgSim::Math::RigidTransform3d &	start,
		const SurgSim::Math::RigidTransform3d &	end,
		const double &	t
	)

Specialized template to call the correct function for RigidTransform3d, might be superfluous, delegates to the eigen interpolation function for RigidTransform3d.

Parameters

start	The start quaternion.
end	The end quaternion.
t	The percentage for the interpolation.

Returns

the interpolated RigidTransform3d.

interpolatePose() [1/2]

SurgSim::Math::RigidTransform3d SurgSim::Testing::interpolatePose	(	const Vector3d &	startAngles,
		const Vector3d &	endAngles,
		const Vector3d &	startPosition,
		const Vector3d &	endPosition,
		const double &	t
	)

interpolatePose() [2/2]

SurgSim::Math::RigidTransform3d SurgSim::Testing::interpolatePose	(	const SurgSim::Math::Vector3d &	startAngles,
		const SurgSim::Math::Vector3d &	endAngles,
		const SurgSim::Math::Vector3d &	startPosition,
		const SurgSim::Math::Vector3d &	endPosition,
		const double &	t
	)

Does a linear interpolation on a pose, given Vector3d for angles and positions.

The angles around the X, Y and Z axis are being passed in a Vector3d for a terser expression.

Parameters

startAngles	The start angles in the order X/Y/Z angle axis value in radians.
endAngles	The end angles in the order X/Y/Z angle axis value in radians.
startPosition	The start position.
endPosition	The end position.
t	The percentage for the interpolation.

Returns

The transform gained by interpolating and assembling the rotation and position values.