moveit2
The MoveIt Motion Planning Framework for ROS 2.
Functions | Variables
subframes_test.cpp File Reference
#include <vector>
#include <map>
#include <ros/ros.h>
#include <gtest/gtest.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/move_group_interface/move_group_interface.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include <tf2_eigen/tf2_eigen.hpp>
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Functions

bool moveToCartPose (const geometry_msgs::PoseStamped &pose, moveit::planning_interface::MoveGroupInterface &group, const std::string &end_effector_link)
 
void spawnCollisionObjects (moveit::planning_interface::PlanningSceneInterface &planning_scene_interface)
 
 TEST (TestPlanUsingSubframes, SubframesTests)
 
int main (int argc, char **argv)
 

Variables

constexpr double EPSILON = 1e-2
 
constexpr double Z_OFFSET = 0.05
 
constexpr double PLANNING_TIME_S = 30.0
 
const double TAU = 2 * M_PI
 

Function Documentation

◆ main()

int main ( int  argc,
char **  argv 
)

Definition at line 202 of file subframes_test.cpp.

◆ moveToCartPose()

bool moveToCartPose ( const geometry_msgs::PoseStamped &  pose,
moveit::planning_interface::MoveGroupInterface group,
const std::string &  end_effector_link 
)

Definition at line 69 of file subframes_test.cpp.

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◆ spawnCollisionObjects()

void spawnCollisionObjects ( moveit::planning_interface::PlanningSceneInterface planning_scene_interface)

Definition at line 90 of file subframes_test.cpp.

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◆ TEST()

TEST ( TestPlanUsingSubframes  ,
SubframesTests   
)

Definition at line 148 of file subframes_test.cpp.

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Variable Documentation

◆ EPSILON

constexpr double EPSILON = 1e-2
constexpr

Definition at line 61 of file subframes_test.cpp.

◆ PLANNING_TIME_S

constexpr double PLANNING_TIME_S = 30.0
constexpr

Definition at line 63 of file subframes_test.cpp.

◆ TAU

const double TAU = 2 * M_PI

Definition at line 65 of file subframes_test.cpp.

◆ Z_OFFSET

constexpr double Z_OFFSET = 0.05
constexpr

Definition at line 62 of file subframes_test.cpp.