moveit2
The MoveIt Motion Planning Framework for ROS 2.
Classes | Functions
test_orientation_constraints.cpp File Reference
#include <moveit/kinematic_constraints/kinematic_constraint.h>
#include <gtest/gtest.h>
#include <urdf_parser/urdf_parser.h>
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include <math.h>
#include <moveit/utils/robot_model_test_utils.h>
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Classes

class  SphericalRobot
 
class  FloatingJointRobot
 

Functions

Eigen::Quaterniond xyz_intrinsix_to_quat (double rx, double ry, double rz)
 
Eigen::Quaterniond rotation_vector_to_quat (double rx, double ry, double rz)
 
void setRobotEndEffectorOrientation (moveit::core::RobotState &robot_state, const Eigen::Quaterniond &quat)
 
 TEST_F (SphericalRobot, Test1)
 
 TEST_F (SphericalRobot, Test2)
 
 TEST_F (SphericalRobot, Test3)
 
 TEST_F (SphericalRobot, Test4)
 
 TEST_F (SphericalRobot, Test5)
 
 TEST_F (FloatingJointRobot, TestDefaultParameterization)
 
 TEST_F (FloatingJointRobot, OrientationConstraintsParameterization)
 
int main (int argc, char **argv)
 

Function Documentation

◆ main()

int main ( int  argc,
char **  argv 
)

Definition at line 478 of file test_orientation_constraints.cpp.

◆ rotation_vector_to_quat()

Eigen::Quaterniond rotation_vector_to_quat ( double  rx,
double  ry,
double  rz 
)
inline

Helper function to create a quaternion from a rotation vector.

Definition at line 136 of file test_orientation_constraints.cpp.

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◆ setRobotEndEffectorOrientation()

void setRobotEndEffectorOrientation ( moveit::core::RobotState robot_state,
const Eigen::Quaterniond &  quat 
)

Helper function to set the orientation of the robot end-effector for the FloatingJointRobot.

Definition at line 144 of file test_orientation_constraints.cpp.

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◆ TEST_F() [1/7]

TEST_F ( FloatingJointRobot  ,
OrientationConstraintsParameterization   
)

Definition at line 380 of file test_orientation_constraints.cpp.

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◆ TEST_F() [2/7]

TEST_F ( FloatingJointRobot  ,
TestDefaultParameterization   
)

Definition at line 352 of file test_orientation_constraints.cpp.

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TEST_F ( SphericalRobot  ,
Test1   
)

Definition at line 152 of file test_orientation_constraints.cpp.

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◆ TEST_F() [4/7]

TEST_F ( SphericalRobot  ,
Test2   
)

Definition at line 179 of file test_orientation_constraints.cpp.

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◆ TEST_F() [5/7]

TEST_F ( SphericalRobot  ,
Test3   
)

Definition at line 224 of file test_orientation_constraints.cpp.

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TEST_F ( SphericalRobot  ,
Test4   
)

Definition at line 272 of file test_orientation_constraints.cpp.

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TEST_F ( SphericalRobot  ,
Test5   
)

Definition at line 326 of file test_orientation_constraints.cpp.

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◆ xyz_intrinsix_to_quat()

Eigen::Quaterniond xyz_intrinsix_to_quat ( double  rx,
double  ry,
double  rz 
)
inline

Helper function to create a quaternion from Euler angles.

Definition at line 129 of file test_orientation_constraints.cpp.

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