test_constrained_state_validity_checker.cpp File Reference

#include "load_test_robot.h"
#include <limits>
#include <ostream>
#include <gtest/gtest.h>
#include <moveit/ompl_interface/detail/state_validity_checker.h>
#include <moveit/ompl_interface/model_based_planning_context.h>
#include <moveit/ompl_interface/parameterization/joint_space/constrained_planning_state_space.h>
#include <moveit/planning_scene/planning_scene.h>
#include <ompl/geometric/SimpleSetup.h>
#include <ompl/base/Constraint.h>
#include <ompl/base/ConstrainedSpaceInformation.h>
#include <ompl/base/spaces/constraint/ProjectedStateSpace.h>

Include dependency graph for test_constrained_state_validity_checker.cpp:

Go to the source code of this file.

Classes
class	DummyConstraint
	Dummy constraint for testing, always satisfied. We need this to create and OMPL ConstrainedStateSpace. More...
class	TestStateValidityChecker
	Generic implementation of the tests that can be executed on different robots. More...
class	PandaValidityCheckerTests
class	FanucTestStateValidityChecker

Functions
std::ostream &	operator<< (std::ostream &os, const std::vector< double > &v)
	Pretty print std:vectors. More...
	TEST_F (PandaValidityCheckerTests, testConstructor)
	TEST_F (PandaValidityCheckerTests, testJointLimits)
	TEST_F (PandaValidityCheckerTests, testSelfCollision)
	TEST_F (FanucTestStateValidityChecker, createStateValidityChecker)
	TEST_F (FanucTestStateValidityChecker, testJointLimits)
	TEST_F (FanucTestStateValidityChecker, testSelfCollision)
int	main (int argc, char **argv)

Variables
constexpr bool	VERBOSE = false
	This flag sets the verbosity level for the state validity checker. More...

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 319 of file test_constrained_state_validity_checker.cpp.

operator<<()

std::ostream& operator<<	(	std::ostream &	os,
		const std::vector< double > &	v
	)

Pretty print std:vectors.

Definition at line 62 of file test_constrained_state_validity_checker.cpp.

TEST_F() [1/6]

TEST_F	(	FanucTestStateValidityChecker	,
		createStateValidityChecker
	)

Definition at line 296 of file test_constrained_state_validity_checker.cpp.

TEST_F() [2/6]

TEST_F	(	FanucTestStateValidityChecker	,
		testJointLimits
	)

Definition at line 301 of file test_constrained_state_validity_checker.cpp.

TEST_F() [3/6]

TEST_F	(	FanucTestStateValidityChecker	,
		testSelfCollision
	)

Definition at line 307 of file test_constrained_state_validity_checker.cpp.

TEST_F() [4/6]

TEST_F	(	PandaValidityCheckerTests	,
		testConstructor
	)

Definition at line 266 of file test_constrained_state_validity_checker.cpp.

TEST_F() [5/6]

TEST_F	(	PandaValidityCheckerTests	,
		testJointLimits
	)

Definition at line 271 of file test_constrained_state_validity_checker.cpp.

TEST_F() [6/6]

TEST_F	(	PandaValidityCheckerTests	,
		testSelfCollision
	)

Definition at line 278 of file test_constrained_state_validity_checker.cpp.

Variable Documentation

VERBOSE

constexpr bool VERBOSE = false

constexpr

This flag sets the verbosity level for the state validity checker.

Definition at line 56 of file test_constrained_state_validity_checker.cpp.