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/* Author: Jens Petit */

#include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h>
#include <moveit/collision_detection/test_collision_common_panda.h>

INSTANTIATE_TYPED_TEST_CASE_P(FCLCollisionCheckPanda, CollisionDetectorPandaTest,
                              collision_detection::CollisionDetectorAllocatorFCL);

// FCL < 0.6 incorrectly reports distance results in the object coordinate frame.
// See: https://github.com/flexible-collision-library/fcl/issues/171
//  and https://github.com/flexible-collision-library/fcl/pull/288.
// So only execute the full distance test suite on FCL >= 0.6.
#if MOVEIT_FCL_VERSION >= FCL_VERSION_CHECK(0, 6, 0)
INSTANTIATE_TYPED_TEST_CASE_P(FCLDistanceCheckPanda, DistanceFullPandaTest,
                              collision_detection::CollisionDetectorAllocatorFCL);
#else
INSTANTIATE_TYPED_TEST_CASE_P(FCLDistanceCheckPanda, DistanceCheckPandaTest,
                              collision_detection::CollisionDetectorAllocatorFCL);
#endif

int main(int argc, char* argv[])
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}
