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

void SetUp () override
 Create test scenario for trajectory blender. More...
 
void TearDown () override
 
std::vector< planning_interface::MotionPlanResponsegenerateLinTrajs (const Sequence &seq, size_t num_cmds)
 Generate lin trajectories for blend sequences. More...
 

Protected Attributes

rclcpp::Node::SharedPtr node_
 
moveit::core::RobotModelConstPtr robot_model_
 
std::unique_ptr< robot_model_loader::RobotModelLoaderrm_loader_
 
planning_scene::PlanningSceneConstPtr planning_scene_
 
std::unique_ptr< TrajectoryGeneratorlin_generator_
 
std::unique_ptr< TrajectoryBlenderTransitionWindowblender_
 
std::string planning_group_
 
std::string target_link_
 
double cartesian_velocity_tolerance_
 
double cartesian_angular_velocity_tolerance_
 
double joint_velocity_tolerance_
 
double joint_acceleration_tolerance_
 
double sampling_time_
 
LimitsContainer planner_limits_
 
std::string test_data_file_name_
 
XmlTestDataLoaderUPtr data_loader_
 

Detailed Description

Definition at line 63 of file unittest_trajectory_blender_transition_window.cpp.

Member Function Documentation

◆ generateLinTrajs()

std::vector<planning_interface::MotionPlanResponse> TrajectoryBlenderTransitionWindowTest::generateLinTrajs ( const Sequence seq,
size_t  num_cmds 
)
inlineprotected

Generate lin trajectories for blend sequences.

Definition at line 134 of file unittest_trajectory_blender_transition_window.cpp.

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◆ SetUp()

void TrajectoryBlenderTransitionWindowTest::SetUp ( )
inlineoverrideprotected

Create test scenario for trajectory blender.

Definition at line 70 of file unittest_trajectory_blender_transition_window.cpp.

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◆ TearDown()

void TrajectoryBlenderTransitionWindowTest::TearDown ( )
inlineoverrideprotected

Member Data Documentation

◆ blender_

std::unique_ptr<TrajectoryBlenderTransitionWindow> TrajectoryBlenderTransitionWindowTest::blender_
protected

◆ cartesian_angular_velocity_tolerance_

double TrajectoryBlenderTransitionWindowTest::cartesian_angular_velocity_tolerance_
protected

◆ cartesian_velocity_tolerance_

double TrajectoryBlenderTransitionWindowTest::cartesian_velocity_tolerance_
protected

◆ data_loader_

XmlTestDataLoaderUPtr TrajectoryBlenderTransitionWindowTest::data_loader_
protected

◆ joint_acceleration_tolerance_

double TrajectoryBlenderTransitionWindowTest::joint_acceleration_tolerance_
protected

◆ joint_velocity_tolerance_

double TrajectoryBlenderTransitionWindowTest::joint_velocity_tolerance_
protected

◆ lin_generator_

std::unique_ptr<TrajectoryGenerator> TrajectoryBlenderTransitionWindowTest::lin_generator_
protected

◆ node_

rclcpp::Node::SharedPtr TrajectoryBlenderTransitionWindowTest::node_
protected

◆ planner_limits_

LimitsContainer TrajectoryBlenderTransitionWindowTest::planner_limits_
protected

◆ planning_group_

std::string TrajectoryBlenderTransitionWindowTest::planning_group_
protected

◆ planning_scene_

planning_scene::PlanningSceneConstPtr TrajectoryBlenderTransitionWindowTest::planning_scene_
protected

◆ rm_loader_

std::unique_ptr<robot_model_loader::RobotModelLoader> TrajectoryBlenderTransitionWindowTest::rm_loader_
protected

◆ robot_model_

moveit::core::RobotModelConstPtr TrajectoryBlenderTransitionWindowTest::robot_model_
protected

◆ sampling_time_

double TrajectoryBlenderTransitionWindowTest::sampling_time_
protected

◆ target_link_

std::string TrajectoryBlenderTransitionWindowTest::target_link_
protected

◆ test_data_file_name_

std::string TrajectoryBlenderTransitionWindowTest::test_data_file_name_
protected

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