Inheritance diagram for PR2LeftArmConstraintTest:

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Collaboration diagram for PR2LeftArmConstraintTest:

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Protected Member Functions
	PR2LeftArmConstraintTest ()

Protected Member Functions inherited from TestOMPLConstraints
	TestOMPLConstraints (const std::string &robot_name, const std::string &group_name)

void	SetUp () override

void	TearDown () override

const Eigen::Isometry3d	fk (const Eigen::VectorXd &q, const std::string &link_name) const
	Robot forward kinematics. More...

Eigen::VectorXd	getRandomState ()

Eigen::MatrixXd	numericalJacobianPosition (const Eigen::VectorXd &q, const std::string &link_name) const

void	setPositionConstraints ()

void	setPositionConstraintsDifferentLink ()
	Test position constraints a link that is not the end-effector. More...

void	setEqualityPositionConstraints ()

void	testJacobian ()

void	testOMPLProjectedStateSpaceConstruction ()

void	testEqualityPositionConstraints ()

Protected Member Functions inherited from ompl_interface_testing::LoadTestRobot
	LoadTestRobot (const std::string &robot_name, const std::string &group_name)

Eigen::VectorXd	getRandomState () const

Eigen::VectorXd	getDeterministicState () const
	Create a joint position vector with values 0.1, 0.2, 0.3, ... where the length depends on the number of joints in the robot. More...

Additional Inherited Members
Protected Attributes inherited from TestOMPLConstraints
std::shared_ptr< ompl_interface::BaseConstraint >	constraint_

Protected Attributes inherited from ompl_interface_testing::LoadTestRobot
std::string	group_name_

std::string	robot_name_

moveit::core::RobotModelPtr	robot_model_

moveit::core::RobotStatePtr	robot_state_

const moveit::core::JointModelGroup *	joint_model_group_

std::size_t	num_dofs_

std::string	base_link_name_

std::string	ee_link_name_

Detailed Description

Definition at line 392 of file test_ompl_constraints.cpp.

Constructor & Destructor Documentation

PR2LeftArmConstraintTest::PR2LeftArmConstraintTest ( )

inlineprotected

Definition at line 395 of file test_ompl_constraints.cpp.

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