#include <memory>
#include <string>
#include <iostream>
#include <gtest/gtest.h>
#include <Eigen/Dense>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/utils/robot_model_test_utils.h>
#include <moveit/ompl_interface/parameterization/joint_space/constrained_planning_state_space.h>
#include <moveit_msgs/msg/constraints.hpp>
#include <ompl/util/Exception.h>
#include <ompl/base/spaces/RealVectorStateSpace.h>
#include <ompl/base/spaces/constraint/ProjectedStateSpace.h>
#include "load_test_robot.h"

Include dependency graph for test_constrained_planning_state_space.cpp:

Classes
class	DummyConstraint
	Dummy constraint for testing, always satisfied. We need this to create and OMPL ConstrainedStateSpace. More...

class	TestConstrainedStateSpace
	Robot indepentent implementation of the tests. More...

class	PandaCopyStateTest

class	FanucCopyStateTest

class	PR2CopyStateTest

Functions
	TEST_F (PandaCopyStateTest, testGetValueAddressAtIndex)

	TEST_F (PandaCopyStateTest, testCopyToRobotState)

	TEST_F (PandaCopyStateTest, testCopyToOMPLState)

	TEST_F (PandaCopyStateTest, testCopyJointToOMPLState)

	TEST_F (FanucCopyStateTest, testGetValueAddressAtIndex)

	TEST_F (FanucCopyStateTest, testCopyToRobotState)

	TEST_F (FanucCopyStateTest, testCopyToOMPLState)

	TEST_F (FanucCopyStateTest, testCopyJointToOMPLState)

	TEST_F (PR2CopyStateTest, testGetValueAddressAtIndex)

	TEST_F (PR2CopyStateTest, testCopyToRobotState)

	TEST_F (PR2CopyStateTest, testCopyToOMPLState)

	TEST_F (PR2CopyStateTest, testCopyJointToOMPLState)

int	main (int argc, char **argv)

Function Documentation

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 337 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [1/12]

TEST_F	(	FanucCopyStateTest	,
		testCopyJointToOMPLState
	)

Definition at line 298 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [2/12]

TEST_F	(	FanucCopyStateTest	,
		testCopyToOMPLState
	)

Definition at line 293 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [3/12]

TEST_F	(	FanucCopyStateTest	,
		testCopyToRobotState
	)

Definition at line 288 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [4/12]

TEST_F	(	FanucCopyStateTest	,
		testGetValueAddressAtIndex
	)

Definition at line 283 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [5/12]

TEST_F	(	PandaCopyStateTest	,
		testCopyJointToOMPLState
	)

Definition at line 267 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [6/12]

TEST_F	(	PandaCopyStateTest	,
		testCopyToOMPLState
	)

Definition at line 262 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [7/12]

TEST_F	(	PandaCopyStateTest	,
		testCopyToRobotState
	)

Definition at line 257 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [8/12]

TEST_F	(	PandaCopyStateTest	,
		testGetValueAddressAtIndex
	)

Definition at line 252 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [9/12]

TEST_F	(	PR2CopyStateTest	,
		testCopyJointToOMPLState
	)

Definition at line 329 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [10/12]

TEST_F	(	PR2CopyStateTest	,
		testCopyToOMPLState
	)

Definition at line 324 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [11/12]

TEST_F	(	PR2CopyStateTest	,
		testCopyToRobotState
	)

Definition at line 319 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [12/12]

TEST_F	(	PR2CopyStateTest	,
		testGetValueAddressAtIndex
	)

Definition at line 314 of file test_constrained_planning_state_space.cpp.

Classes

Functions