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

void SetUp () override
 Create test scenario for circ trajectory generator. More...
 
void checkCircResult (const planning_interface::MotionPlanRequest &req, const planning_interface::MotionPlanResponse &res)
 
void TearDown () override
 
void getCircCenter (const planning_interface::MotionPlanRequest &req, const planning_interface::MotionPlanResponse &res, Eigen::Vector3d &circ_center)
 

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< TrajectoryGeneratorCIRCcirc_
 
std::unique_ptr< pilz_industrial_motion_planner_testutils::TestdataLoadertdp_
 
std::string planning_group_
 
std::string target_link_
 
std::string test_data_file_name_
 
int random_trial_num_
 
double cartesian_position_tolerance_
 
double angular_acc_tolerance_
 
double rot_axis_norm_tolerance_
 
double acceleration_tolerance_
 
double other_tolerance_
 
LimitsContainer planner_limits_
 

Detailed Description

Definition at line 59 of file unittest_trajectory_generator_circ.cpp.

Member Function Documentation

◆ checkCircResult()

void TrajectoryGeneratorCIRCTest::checkCircResult ( const planning_interface::MotionPlanRequest req,
const planning_interface::MotionPlanResponse res 
)
inlineprotected

Definition at line 125 of file unittest_trajectory_generator_circ.cpp.

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◆ getCircCenter()

void TrajectoryGeneratorCIRCTest::getCircCenter ( const planning_interface::MotionPlanRequest req,
const planning_interface::MotionPlanResponse res,
Eigen::Vector3d &  circ_center 
)
inlineprotected

Definition at line 168 of file unittest_trajectory_generator_circ.cpp.

◆ SetUp()

void TrajectoryGeneratorCIRCTest::SetUp ( )
inlineoverrideprotected

Create test scenario for circ trajectory generator.

Definition at line 66 of file unittest_trajectory_generator_circ.cpp.

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◆ TearDown()

void TrajectoryGeneratorCIRCTest::TearDown ( )
inlineoverrideprotected

Definition at line 163 of file unittest_trajectory_generator_circ.cpp.

Member Data Documentation

◆ acceleration_tolerance_

double TrajectoryGeneratorCIRCTest::acceleration_tolerance_
protected

Definition at line 210 of file unittest_trajectory_generator_circ.cpp.

◆ angular_acc_tolerance_

double TrajectoryGeneratorCIRCTest::angular_acc_tolerance_
protected

Definition at line 210 of file unittest_trajectory_generator_circ.cpp.

◆ cartesian_position_tolerance_

double TrajectoryGeneratorCIRCTest::cartesian_position_tolerance_
protected

Definition at line 210 of file unittest_trajectory_generator_circ.cpp.

◆ circ_

std::unique_ptr<TrajectoryGeneratorCIRC> TrajectoryGeneratorCIRCTest::circ_
protected

Definition at line 203 of file unittest_trajectory_generator_circ.cpp.

◆ node_

rclcpp::Node::SharedPtr TrajectoryGeneratorCIRCTest::node_
protected

Definition at line 198 of file unittest_trajectory_generator_circ.cpp.

◆ other_tolerance_

double TrajectoryGeneratorCIRCTest::other_tolerance_
protected

Definition at line 211 of file unittest_trajectory_generator_circ.cpp.

◆ planner_limits_

LimitsContainer TrajectoryGeneratorCIRCTest::planner_limits_
protected

Definition at line 212 of file unittest_trajectory_generator_circ.cpp.

◆ planning_group_

std::string TrajectoryGeneratorCIRCTest::planning_group_
protected

Definition at line 208 of file unittest_trajectory_generator_circ.cpp.

◆ planning_scene_

planning_scene::PlanningSceneConstPtr TrajectoryGeneratorCIRCTest::planning_scene_
protected

Definition at line 201 of file unittest_trajectory_generator_circ.cpp.

◆ random_trial_num_

int TrajectoryGeneratorCIRCTest::random_trial_num_
protected

Definition at line 209 of file unittest_trajectory_generator_circ.cpp.

◆ rm_loader_

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

Definition at line 200 of file unittest_trajectory_generator_circ.cpp.

◆ robot_model_

moveit::core::RobotModelConstPtr TrajectoryGeneratorCIRCTest::robot_model_
protected

Definition at line 199 of file unittest_trajectory_generator_circ.cpp.

◆ rot_axis_norm_tolerance_

double TrajectoryGeneratorCIRCTest::rot_axis_norm_tolerance_
protected

Definition at line 210 of file unittest_trajectory_generator_circ.cpp.

◆ target_link_

std::string TrajectoryGeneratorCIRCTest::target_link_
protected

Definition at line 208 of file unittest_trajectory_generator_circ.cpp.

◆ tdp_

std::unique_ptr<pilz_industrial_motion_planner_testutils::TestdataLoader> TrajectoryGeneratorCIRCTest::tdp_
protected

Definition at line 205 of file unittest_trajectory_generator_circ.cpp.

◆ test_data_file_name_

std::string TrajectoryGeneratorCIRCTest::test_data_file_name_
protected

Definition at line 208 of file unittest_trajectory_generator_circ.cpp.


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