Leverage tesseract_common loadYamlFile and loadYamlString

tesseract-robotics · Jan 4, 2025 · f7afe1d · f7afe1d
1 parent 11d935b
commit f7afe1d
Show file tree

Hide file tree

Showing 10 changed files with 195 additions and 150 deletions.
diff --git a/tesseract_collision/core/include/tesseract_collision/core/contact_managers_plugin_factory.h b/tesseract_collision/core/include/tesseract_collision/core/contact_managers_plugin_factory.h
@@ -33,6 +33,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <map>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
+#include <tesseract_common/fwd.h>
 #include <tesseract_common/filesystem.h>
 #include <tesseract_common/plugin_loader.h>
 #include <tesseract_common/plugin_info.h>
@@ -115,13 +116,14 @@ class ContactManagersPluginFactory
    * @brief Load plugins from file path
    * @param config The config file path
    */
-  ContactManagersPluginFactory(const tesseract_common::fs::path& config);
+  ContactManagersPluginFactory(const tesseract_common::fs::path& config,
+                               const tesseract_common::ResourceLocator& locator);
 
   /**
    * @brief Load plugins from string
    * @param config The config string
    */
-  ContactManagersPluginFactory(const std::string& config);
+  ContactManagersPluginFactory(const std::string& config, const tesseract_common::ResourceLocator& locator);
 
   /**
    * @brief Add location for the plugin loader to search

diff --git a/tesseract_collision/core/src/contact_managers_plugin_factory.cpp b/tesseract_collision/core/src/contact_managers_plugin_factory.cpp
@@ -31,6 +31,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/core/continuous_contact_manager.h>
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_common/plugin_loader.hpp>
 #include <tesseract_common/yaml_utils.h>
 #include <tesseract_common/yaml_extenstions.h>
@@ -71,13 +72,15 @@ ContactManagersPluginFactory::ContactManagersPluginFactory(YAML::Node config) :
   }
 }
 
-ContactManagersPluginFactory::ContactManagersPluginFactory(const tesseract_common::fs::path& config)
-  : ContactManagersPluginFactory(YAML::LoadFile(config.string()))
+ContactManagersPluginFactory::ContactManagersPluginFactory(const tesseract_common::fs::path& config,
+                                                           const tesseract_common::ResourceLocator& locator)
+  : ContactManagersPluginFactory(tesseract_common::loadYamlFile(config.string(), locator))
 {
 }
 
-ContactManagersPluginFactory::ContactManagersPluginFactory(const std::string& config)
-  : ContactManagersPluginFactory(YAML::Load(config))
+ContactManagersPluginFactory::ContactManagersPluginFactory(const std::string& config,
+                                                           const tesseract_common::ResourceLocator& locator)
+  : ContactManagersPluginFactory(tesseract_common::loadYamlString(config, locator))
 {
 }
 

diff --git a/tesseract_collision/test/contact_managers_factory_static_unit.cpp b/tesseract_collision/test/contact_managers_factory_static_unit.cpp
@@ -32,6 +32,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_collision/core/contact_managers_plugin_factory.h>
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/bullet/bullet_factories.h>
+#include <tesseract_common/yaml_utils.h>
+#include <tesseract_common/resource_locator.h>
 
 using namespace tesseract_collision;
 
@@ -63,10 +65,11 @@ TEST(TesseractContactManagersFactoryUnit, StaticLoadPlugin)  // NOLINT
                                 BulletCastSimpleManager:
                                   class: BulletCastSimpleManagerFactory)";
 
-  ContactManagersPluginFactory factory(config);
+  tesseract_common::GeneralResourceLocator locator;
+  ContactManagersPluginFactory factory(config, locator);
   factory.clearSearchLibraries();
   factory.clearSearchPaths();
-  YAML::Node plugin_config = YAML::Load(config);
+  YAML::Node plugin_config = tesseract_common::loadYamlString(config, locator);
 
   DiscreteContactManager::UPtr cm = factory.createDiscreteContactManager("BulletDiscreteBVHManager");
   EXPECT_TRUE(cm != nullptr);

diff --git a/tesseract_collision/test/contact_managers_factory_unit.cpp b/tesseract_collision/test/contact_managers_factory_unit.cpp
@@ -32,13 +32,16 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_collision/core/contact_managers_plugin_factory.h>
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/core/continuous_contact_manager.h>
+#include <tesseract_common/yaml_utils.h>
+#include <tesseract_common/resource_locator.h>
 
 using namespace tesseract_collision;
 
 void runContactManagersFactoryTest(const tesseract_common::fs::path& config_path)
 {
-  ContactManagersPluginFactory factory(config_path);
-  YAML::Node plugin_config = YAML::LoadFile(config_path.string());
+  tesseract_common::GeneralResourceLocator locator;
+  ContactManagersPluginFactory factory(config_path, locator);
+  YAML::Node plugin_config = tesseract_common::loadYamlFile(config_path.string(), locator);
 
   const YAML::Node& plugin_info = plugin_config["contact_manager_plugins"];
   const YAML::Node& search_paths = plugin_info["search_paths"];
@@ -152,8 +155,9 @@ TEST(TesseractContactManagersFactoryUnit, LoadStringPluginTest)  // NOLINT
                                 BulletCastSimpleManager:
                                   class: BulletCastSimpleManagerFactory)";
 
-  ContactManagersPluginFactory factory(config);
-  YAML::Node plugin_config = YAML::Load(config);
+  tesseract_common::GeneralResourceLocator locator;
+  ContactManagersPluginFactory factory(config, locator);
+  YAML::Node plugin_config = tesseract_common::loadYamlString(config, locator);
 
   const YAML::Node& plugin_info = plugin_config["contact_manager_plugins"];
   const YAML::Node& search_paths = plugin_info["search_paths"];
@@ -318,8 +322,9 @@ TEST(TesseractContactManagersFactoryUnit, LoadOnlyDiscretePluginTest)  // NOLINT
                                 FCLDiscreteBVHManager:
                                   class: FCLDiscreteBVHManagerFactory)";
 
-  ContactManagersPluginFactory factory(config);
-  YAML::Node plugin_config = YAML::Load(config);
+  tesseract_common::GeneralResourceLocator locator;
+  ContactManagersPluginFactory factory(config, locator);
+  YAML::Node plugin_config = tesseract_common::loadYamlString(config, locator);
 
   const YAML::Node& plugin_info = plugin_config["contact_manager_plugins"];
   const YAML::Node& search_paths = plugin_info["search_paths"];
@@ -372,8 +377,9 @@ TEST(TesseractContactManagersFactoryUnit, LoadOnlyContinuousPluginTest)  // NOLI
                                 BulletCastSimpleManager:
                                   class: BulletCastSimpleManagerFactory)";
 
-  ContactManagersPluginFactory factory(config);
-  YAML::Node plugin_config = YAML::Load(config);
+  tesseract_common::GeneralResourceLocator locator;
+  ContactManagersPluginFactory factory(config, locator);
+  YAML::Node plugin_config = tesseract_common::loadYamlString(config, locator);
 
   const YAML::Node& plugin_info = plugin_config["contact_manager_plugins"];
   const YAML::Node& search_paths = plugin_info["search_paths"];