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The MoveIt Motion Planning Framework for ROS 2.
Public Member Functions | Public Attributes | Protected Member Functions | List of all members
KinematicsTest Class Reference
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Public Member Functions

testing::AssertionResult isNear (const char *expr1, const char *expr2, const char *, const geometry_msgs::msg::Point &val1, const geometry_msgs::msg::Point &val2, double abs_error)
 
testing::AssertionResult isNear (const char *expr1, const char *expr2, const char *, const geometry_msgs::msg::Quaternion &val1, const geometry_msgs::msg::Quaternion &val2, double abs_error)
 
testing::AssertionResult expectNearHelper (const char *expr1, const char *expr2, const char *abs_error_expr, const std::vector< geometry_msgs::msg::Pose > &val1, const std::vector< geometry_msgs::msg::Pose > &val2, double abs_error)
 
void searchIKCallback (const std::vector< double > &joint_state, moveit_msgs::msg::MoveItErrorCodes &error_code)
 

Public Attributes

rclcpp::Node::SharedPtr node_
 
moveit::core::RobotModelPtr robot_model_
 
moveit::core::JointModelGroup * jmg_
 
kinematics::KinematicsBasePtr kinematics_solver_
 
random_numbers::RandomNumberGenerator rng_ { 42 }
 
std::string root_link_
 
std::string tip_link_
 
std::string group_name_
 
std::string ik_plugin_name_
 
std::vector< std::string > joints_
 
std::vector< double > seed_
 
std::vector< double > consistency_limits_
 
double timeout_
 
double tolerance_
 
unsigned int num_fk_tests_
 
unsigned int num_ik_cb_tests_
 
unsigned int num_ik_tests_
 
unsigned int num_ik_multiple_tests_
 
unsigned int num_nearest_ik_tests_
 
bool publish_trajectory_
 

Protected Member Functions

void operator= (const SharedData &data)
 
void SetUp () override
 

Detailed Description

Definition at line 157 of file test_kinematics_plugin.cpp.

Member Function Documentation

◆ expectNearHelper()

testing::AssertionResult KinematicsTest::expectNearHelper ( const char *  expr1,
const char *  expr2,
const char *  abs_error_expr,
const std::vector< geometry_msgs::msg::Pose > &  val1,
const std::vector< geometry_msgs::msg::Pose > &  val2,
double  abs_error 
)
inline

Definition at line 238 of file test_kinematics_plugin.cpp.

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◆ isNear() [1/2]

testing::AssertionResult KinematicsTest::isNear ( const char *  expr1,
const char *  expr2,
const char *  ,
const geometry_msgs::msg::Point &  val1,
const geometry_msgs::msg::Point &  val2,
double  abs_error 
)
inline

Definition at line 205 of file test_kinematics_plugin.cpp.

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◆ isNear() [2/2]

testing::AssertionResult KinematicsTest::isNear ( const char *  expr1,
const char *  expr2,
const char *  ,
const geometry_msgs::msg::Quaternion &  val1,
const geometry_msgs::msg::Quaternion &  val2,
double  abs_error 
)
inline

Definition at line 221 of file test_kinematics_plugin.cpp.

◆ operator=()

void KinematicsTest::operator= ( const SharedData &  data)
inlineprotected

Definition at line 160 of file test_kinematics_plugin.cpp.

◆ searchIKCallback()

void KinematicsTest::searchIKCallback ( const std::vector< double > &  joint_state,
moveit_msgs::msg::MoveItErrorCodes &  error_code 
)
inline

Definition at line 264 of file test_kinematics_plugin.cpp.

◆ SetUp()

void KinematicsTest::SetUp ( )
inlineoverrideprotected

Definition at line 182 of file test_kinematics_plugin.cpp.

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Member Data Documentation

◆ consistency_limits_

std::vector<double> KinematicsTest::consistency_limits_

Definition at line 293 of file test_kinematics_plugin.cpp.

◆ group_name_

std::string KinematicsTest::group_name_

Definition at line 289 of file test_kinematics_plugin.cpp.

◆ ik_plugin_name_

std::string KinematicsTest::ik_plugin_name_

Definition at line 290 of file test_kinematics_plugin.cpp.

◆ jmg_

moveit::core::JointModelGroup* KinematicsTest::jmg_

Definition at line 284 of file test_kinematics_plugin.cpp.

◆ joints_

std::vector<std::string> KinematicsTest::joints_

Definition at line 291 of file test_kinematics_plugin.cpp.

◆ kinematics_solver_

kinematics::KinematicsBasePtr KinematicsTest::kinematics_solver_

Definition at line 285 of file test_kinematics_plugin.cpp.

◆ node_

rclcpp::Node::SharedPtr KinematicsTest::node_

Definition at line 282 of file test_kinematics_plugin.cpp.

◆ num_fk_tests_

unsigned int KinematicsTest::num_fk_tests_

Definition at line 296 of file test_kinematics_plugin.cpp.

◆ num_ik_cb_tests_

unsigned int KinematicsTest::num_ik_cb_tests_

Definition at line 297 of file test_kinematics_plugin.cpp.

◆ num_ik_multiple_tests_

unsigned int KinematicsTest::num_ik_multiple_tests_

Definition at line 299 of file test_kinematics_plugin.cpp.

◆ num_ik_tests_

unsigned int KinematicsTest::num_ik_tests_

Definition at line 298 of file test_kinematics_plugin.cpp.

◆ num_nearest_ik_tests_

unsigned int KinematicsTest::num_nearest_ik_tests_

Definition at line 300 of file test_kinematics_plugin.cpp.

◆ publish_trajectory_

bool KinematicsTest::publish_trajectory_

Definition at line 301 of file test_kinematics_plugin.cpp.

◆ rng_

random_numbers::RandomNumberGenerator KinematicsTest::rng_ { 42 }

Definition at line 286 of file test_kinematics_plugin.cpp.

◆ robot_model_

moveit::core::RobotModelPtr KinematicsTest::robot_model_

Definition at line 283 of file test_kinematics_plugin.cpp.

◆ root_link_

std::string KinematicsTest::root_link_

Definition at line 287 of file test_kinematics_plugin.cpp.

◆ seed_

std::vector<double> KinematicsTest::seed_

Definition at line 292 of file test_kinematics_plugin.cpp.

◆ timeout_

double KinematicsTest::timeout_

Definition at line 294 of file test_kinematics_plugin.cpp.

◆ tip_link_

std::string KinematicsTest::tip_link_

Definition at line 288 of file test_kinematics_plugin.cpp.

◆ tolerance_

double KinematicsTest::tolerance_

Definition at line 295 of file test_kinematics_plugin.cpp.

The documentation for this class was generated from the following file:
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