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

Robot indepentent implementation of the tests.
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Protected Member Functions

 TestConstrainedStateSpace (const std::string &robot_name, const std::string &group_name)
 
void SetUp () override
 
void TearDown () override
 
void setupMoveItStateSpace ()
 
void setupOMPLStateSpace ()
 
void testGetValueAddressAtIndex ()
 
void testCopyToRobotState ()
 
void testCopyToOMPLState ()
 
void testCopyJointToOMPLState ()
 
- 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...
 

Protected Attributes

ompl::base::ConstrainedStateSpacePtr constrained_state_space_
 
ompl_interface::ConstrainedPlanningStateSpacePtr moveit_state_space_
 
- 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::JointModelGroupjoint_model_group_
 
std::size_t num_dofs_
 
std::string base_link_name_
 
std::string ee_link_name_
 

Detailed Description

Robot indepentent implementation of the tests.

Definition at line 78 of file test_constrained_planning_state_space.cpp.

Constructor & Destructor Documentation

◆ TestConstrainedStateSpace()

TestConstrainedStateSpace::TestConstrainedStateSpace ( const std::string &  robot_name,
const std::string &  group_name 
)
inlineprotected

Definition at line 81 of file test_constrained_planning_state_space.cpp.

Member Function Documentation

◆ SetUp()

void TestConstrainedStateSpace::SetUp ( )
inlineoverrideprotected

Definition at line 86 of file test_constrained_planning_state_space.cpp.

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◆ setupMoveItStateSpace()

void TestConstrainedStateSpace::setupMoveItStateSpace ( )
inlineprotected

Definition at line 97 of file test_constrained_planning_state_space.cpp.

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◆ setupOMPLStateSpace()

void TestConstrainedStateSpace::setupOMPLStateSpace ( )
inlineprotected

Definition at line 103 of file test_constrained_planning_state_space.cpp.

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◆ TearDown()

void TestConstrainedStateSpace::TearDown ( )
inlineoverrideprotected

Definition at line 93 of file test_constrained_planning_state_space.cpp.

◆ testCopyJointToOMPLState()

void TestConstrainedStateSpace::testCopyJointToOMPLState ( )
inlineprotected

Definition at line 198 of file test_constrained_planning_state_space.cpp.

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◆ testCopyToOMPLState()

void TestConstrainedStateSpace::testCopyToOMPLState ( )
inlineprotected

Definition at line 172 of file test_constrained_planning_state_space.cpp.

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◆ testCopyToRobotState()

void TestConstrainedStateSpace::testCopyToRobotState ( )
inlineprotected

Definition at line 136 of file test_constrained_planning_state_space.cpp.

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◆ testGetValueAddressAtIndex()

void TestConstrainedStateSpace::testGetValueAddressAtIndex ( )
inlineprotected

Definition at line 111 of file test_constrained_planning_state_space.cpp.

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Member Data Documentation

◆ constrained_state_space_

ompl::base::ConstrainedStateSpacePtr TestConstrainedStateSpace::constrained_state_space_
protected

Definition at line 237 of file test_constrained_planning_state_space.cpp.

◆ moveit_state_space_

ompl_interface::ConstrainedPlanningStateSpacePtr TestConstrainedStateSpace::moveit_state_space_
protected

Definition at line 238 of file test_constrained_planning_state_space.cpp.


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