moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Parametrized class for tests with and without gripper. More...
Additional Inherited Members | |
Protected Member Functions inherited from TrajectoryFunctionsTestBase | |
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 inherited from TrajectoryFunctionsTestBase | |
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_ } |
Parametrized class for tests with and without gripper.
Definition at line 170 of file unittest_trajectory_functions.cpp.