moveit2
The MoveIt Motion Planning Framework for ROS 2.
Classes | Macros | Functions | Variables
test_kinematics_plugin.cpp File Reference
#include <gtest/gtest.h>
#include <memory>
#include <functional>
#include <pluginlib/class_loader.hpp>
#include <rclcpp/rclcpp.hpp>
#include <tf2_eigen/tf2_eigen.hpp>
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/rdf_loader/rdf_loader.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h>
#include <moveit/robot_state/conversions.h>
#include <moveit_msgs/msg/display_trajectory.hpp>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit/utils/robot_model_test_utils.h>
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Classes

class  SharedData
 
class  KinematicsTest
 

Macros

#define EXPECT_NEAR_POSES(lhs, rhs, near)
 

Functions

 TEST_F (KinematicsTest, getFK)
 
 TEST_F (KinematicsTest, randomWalkIK)
 
 TEST_F (KinematicsTest, unitIK)
 
 TEST_F (KinematicsTest, searchIK)
 
 TEST_F (KinematicsTest, searchIKWithCallback)
 
 TEST_F (KinematicsTest, getIK)
 
 TEST_F (KinematicsTest, getIKMultipleSolutions)
 
 TEST_F (KinematicsTest, getNearestIKSolution)
 
int main (int argc, char **argv)
 

Variables

const std::string ROBOT_DESCRIPTION_PARAM = "robot_description"
 
const double DEFAULT_SEARCH_DISCRETIZATION = 0.01f
 
const double EXPECTED_SUCCESS_RATE = 0.8
 

Macro Definition Documentation

◆ EXPECT_NEAR_POSES

#define EXPECT_NEAR_POSES (   lhs,
  rhs,
  near 
)
Value:
SCOPED_TRACE("EXPECT_NEAR_POSES(" #lhs ", " #rhs ")"); \
GTEST_ASSERT_(expectNearHelper(#lhs, #rhs, #near, lhs, rhs, near), GTEST_NONFATAL_FAILURE_);

Definition at line 304 of file test_kinematics_plugin.cpp.

Function Documentation

◆ main()

int main ( int  argc,
char **  argv 
)

Definition at line 737 of file test_kinematics_plugin.cpp.

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TEST_F ( KinematicsTest  ,
getFK   
)

Definition at line 308 of file test_kinematics_plugin.cpp.

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TEST_F ( KinematicsTest  ,
getIK   
)

Definition at line 609 of file test_kinematics_plugin.cpp.

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TEST_F ( KinematicsTest  ,
getIKMultipleSolutions   
)

Definition at line 636 of file test_kinematics_plugin.cpp.

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TEST_F ( KinematicsTest  ,
getNearestIKSolution   
)

Definition at line 681 of file test_kinematics_plugin.cpp.

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TEST_F ( KinematicsTest  ,
randomWalkIK   
)

Definition at line 332 of file test_kinematics_plugin.cpp.

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TEST_F ( KinematicsTest  ,
searchIK   
)

Definition at line 526 of file test_kinematics_plugin.cpp.

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TEST_F ( KinematicsTest  ,
searchIKWithCallback   
)

Definition at line 563 of file test_kinematics_plugin.cpp.

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TEST_F ( KinematicsTest  ,
unitIK   
)

Definition at line 425 of file test_kinematics_plugin.cpp.

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Variable Documentation

◆ DEFAULT_SEARCH_DISCRETIZATION

const double DEFAULT_SEARCH_DISCRETIZATION = 0.01f

Definition at line 60 of file test_kinematics_plugin.cpp.

◆ EXPECTED_SUCCESS_RATE

const double EXPECTED_SUCCESS_RATE = 0.8

Definition at line 61 of file test_kinematics_plugin.cpp.

◆ ROBOT_DESCRIPTION_PARAM

const std::string ROBOT_DESCRIPTION_PARAM = "robot_description"

Definition at line 59 of file test_kinematics_plugin.cpp.