moveit2
The MoveIt Motion Planning Framework for ROS 2.
Classes | Functions | Variables
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:

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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.