moveit2: TrajectoryGeneratorLINTest Class Reference

moveit2

The MoveIt Motion Planning Framework for ROS 2.

Parameterized unittest of trajectory generator LIN to enable tests against different robot models.The parameter is the name of robot model parameter on the ros parameter server. More...

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Protected Member Functions
void	SetUp () override
	Create test scenario for lin trajectory generator. More...

void	TearDown () override

bool	checkLinResponse (const planning_interface::MotionPlanRequest &req, const planning_interface::MotionPlanResponse &res)

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::unique_ptr< TrajectoryGenerator >	lin_

std::unique_ptr< pilz_industrial_motion_planner_testutils::TestdataLoader >	tdp_

std::string	planning_group_

std::string	target_link_hcd_

std::string	test_data_file_name_

int	random_trial_num_

double	joint_position_tolerance_

double	joint_velocity_tolerance_

double	pose_norm_tolerance_

double	rot_axis_norm_tolerance_

double	velocity_scaling_factor_

double	other_tolerance_

LimitsContainer	planner_limits_

Detailed Description

Parameterized unittest of trajectory generator LIN to enable tests against different robot models.The parameter is the name of robot model parameter on the ros parameter server.

Definition at line 77 of file unittest_trajectory_generator_lin.cpp.

Member Function Documentation

◆ checkLinResponse()

bool TrajectoryGeneratorLINTest::checkLinResponse	(	const planning_interface::MotionPlanRequest &	req,
		const planning_interface::MotionPlanResponse &	res
	)

inlineprotected

Definition at line 139 of file unittest_trajectory_generator_lin.cpp.

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◆ SetUp()

void TrajectoryGeneratorLINTest::SetUp ( )

inlineoverrideprotected

Create test scenario for lin trajectory generator.

Definition at line 84 of file unittest_trajectory_generator_lin.cpp.

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◆ TearDown()

void TrajectoryGeneratorLINTest::TearDown ( )

inlineoverrideprotected

Definition at line 134 of file unittest_trajectory_generator_lin.cpp.

Member Data Documentation

◆ joint_position_tolerance_

double TrajectoryGeneratorLINTest::joint_position_tolerance_

protected

Definition at line 178 of file unittest_trajectory_generator_lin.cpp.

◆ joint_velocity_tolerance_

double TrajectoryGeneratorLINTest::joint_velocity_tolerance_

protected

Definition at line 178 of file unittest_trajectory_generator_lin.cpp.

◆ lin_

std::unique_ptr<TrajectoryGenerator> TrajectoryGeneratorLINTest::lin_

protected

Definition at line 171 of file unittest_trajectory_generator_lin.cpp.

◆ node_

rclcpp::Node::SharedPtr TrajectoryGeneratorLINTest::node_

protected

Definition at line 165 of file unittest_trajectory_generator_lin.cpp.

◆ other_tolerance_

double TrajectoryGeneratorLINTest::other_tolerance_

protected

Definition at line 179 of file unittest_trajectory_generator_lin.cpp.

◆ planner_limits_

LimitsContainer TrajectoryGeneratorLINTest::planner_limits_

protected

Definition at line 180 of file unittest_trajectory_generator_lin.cpp.

◆ planning_group_

std::string TrajectoryGeneratorLINTest::planning_group_

protected

Definition at line 176 of file unittest_trajectory_generator_lin.cpp.

◆ planning_scene_

planning_scene::PlanningSceneConstPtr TrajectoryGeneratorLINTest::planning_scene_

protected

Definition at line 168 of file unittest_trajectory_generator_lin.cpp.

◆ pose_norm_tolerance_

double TrajectoryGeneratorLINTest::pose_norm_tolerance_

protected

Definition at line 178 of file unittest_trajectory_generator_lin.cpp.

◆ random_trial_num_

int TrajectoryGeneratorLINTest::random_trial_num_

protected

Definition at line 177 of file unittest_trajectory_generator_lin.cpp.

◆ rm_loader_

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

protected

Definition at line 167 of file unittest_trajectory_generator_lin.cpp.

◆ robot_model_

moveit::core::RobotModelConstPtr TrajectoryGeneratorLINTest::robot_model_

protected

Definition at line 166 of file unittest_trajectory_generator_lin.cpp.

◆ rot_axis_norm_tolerance_

double TrajectoryGeneratorLINTest::rot_axis_norm_tolerance_

protected

Definition at line 178 of file unittest_trajectory_generator_lin.cpp.

◆ target_link_hcd_

std::string TrajectoryGeneratorLINTest::target_link_hcd_

protected

Definition at line 176 of file unittest_trajectory_generator_lin.cpp.

◆ tdp_

std::unique_ptr<pilz_industrial_motion_planner_testutils::TestdataLoader> TrajectoryGeneratorLINTest::tdp_

protected

Definition at line 173 of file unittest_trajectory_generator_lin.cpp.

◆ test_data_file_name_

std::string TrajectoryGeneratorLINTest::test_data_file_name_

protected

Definition at line 176 of file unittest_trajectory_generator_lin.cpp.

◆ velocity_scaling_factor_

double TrajectoryGeneratorLINTest::velocity_scaling_factor_

protected

Definition at line 179 of file unittest_trajectory_generator_lin.cpp.

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

moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_lin.cpp