TrajectoryFunctionsTestBase Class Reference

test fixtures base class More...

Inheritance diagram for TrajectoryFunctionsTestBase:

Collaboration diagram for TrajectoryFunctionsTestBase:

Protected Member Functions
void	SetUp () override
	Create test scenario for trajectory functions. More...
void	TearDown () override
bool	tfNear (const Eigen::Isometry3d &pose1, const Eigen::Isometry3d &pose2, const double &epsilon)
	check if two transformations are close More...

Protected Attributes
rclcpp::Node::SharedPtr	node_
moveit::core::RobotModelConstPtr	robot_model_
std::unique_ptr< robot_model_loader::RobotModelLoader >	rm_loader_
planning_scene::PlanningSceneConstPtr	planning_scene_
std::string	planning_group_
std::string	group_tip_link_
std::string	tcp_link_
std::string	ik_fast_link_
int	random_test_number_
std::vector< std::string >	joint_names_
std::map< std::string, double >	zero_state_
uint32_t	random_seed_ { 100 }
random_numbers::RandomNumberGenerator	rng_ { random_seed_ }

Detailed Description

test fixtures base class

Definition at line 81 of file unittest_trajectory_functions.cpp.

Member Function Documentation

SetUp()

void TrajectoryFunctionsTestBase::SetUp ( )

inlineoverrideprotected

Create test scenario for trajectory functions.

Definition at line 88 of file unittest_trajectory_functions.cpp.

Here is the call graph for this function:

TearDown()

void TrajectoryFunctionsTestBase::TearDown ( )

inlineoverrideprotected

Definition at line 123 of file unittest_trajectory_functions.cpp.

tfNear()

bool TrajectoryFunctionsTestBase::tfNear ( const Eigen::Isometry3d &  pose1, const Eigen::Isometry3d &  pose2, const double &  epsilon  )

protected

check if two transformations are close

Parameters

pose1
pose2
epsilon

Returns

Definition at line 155 of file unittest_trajectory_functions.cpp.

Member Data Documentation

group_tip_link_

std::string TrajectoryFunctionsTestBase::group_tip_link_

protected

Definition at line 145 of file unittest_trajectory_functions.cpp.

ik_fast_link_

std::string TrajectoryFunctionsTestBase::ik_fast_link_

protected

Definition at line 145 of file unittest_trajectory_functions.cpp.

joint_names_

std::vector<std::string> TrajectoryFunctionsTestBase::joint_names_

protected

Definition at line 147 of file unittest_trajectory_functions.cpp.

node_

rclcpp::Node::SharedPtr TrajectoryFunctionsTestBase::node_

protected

Definition at line 139 of file unittest_trajectory_functions.cpp.

planning_group_

std::string TrajectoryFunctionsTestBase::planning_group_

protected

Definition at line 145 of file unittest_trajectory_functions.cpp.

planning_scene_

planning_scene::PlanningSceneConstPtr TrajectoryFunctionsTestBase::planning_scene_

protected

Definition at line 142 of file unittest_trajectory_functions.cpp.

random_seed_

uint32_t TrajectoryFunctionsTestBase::random_seed_ { 100 }

protected

Definition at line 151 of file unittest_trajectory_functions.cpp.

random_test_number_

int TrajectoryFunctionsTestBase::random_test_number_

protected

Definition at line 146 of file unittest_trajectory_functions.cpp.

rm_loader_

std::unique_ptr<robot_model_loader::RobotModelLoader> TrajectoryFunctionsTestBase::rm_loader_

protected

Definition at line 141 of file unittest_trajectory_functions.cpp.

rng_

random_numbers::RandomNumberGenerator TrajectoryFunctionsTestBase::rng_ { random_seed_ }

protected

Definition at line 152 of file unittest_trajectory_functions.cpp.

robot_model_

moveit::core::RobotModelConstPtr TrajectoryFunctionsTestBase::robot_model_

protected

Definition at line 140 of file unittest_trajectory_functions.cpp.

tcp_link_

std::string TrajectoryFunctionsTestBase::tcp_link_

protected

Definition at line 145 of file unittest_trajectory_functions.cpp.

zero_state_

std::map<std::string, double> TrajectoryFunctionsTestBase::zero_state_

protected

Definition at line 148 of file unittest_trajectory_functions.cpp.

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

• moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_functions.cpp