test_time_parameterization.cpp File Reference

#include <gtest/gtest.h>
#include <fstream>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit/trajectory_processing/iterative_spline_parameterization.h>
#include <moveit/trajectory_processing/iterative_time_parameterization.h>
#include <moveit/utils/robot_model_test_utils.h>
#include <rclcpp/rclcpp.hpp>

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Functions
int	initRepeatedPointTrajectory (robot_trajectory::RobotTrajectory &trajectory)
int	initStraightTrajectory (robot_trajectory::RobotTrajectory &trajectory)
void	printTrajectory (robot_trajectory::RobotTrajectory &trajectory)
	TEST (TestTimeParameterization, TestIterativeParabolic)
	TEST (TestTimeParameterization, TestIterativeSpline)
	TEST (TestTimeParameterization, TestIterativeSplineAddPoints)
	TEST (TestTimeParameterization, TestRepeatedPoint)
int	main (int argc, char **argv)

Variables
moveit::core::RobotModelConstPtr	RMODEL = moveit::core::loadTestingRobotModel("pr2")
robot_trajectory::RobotTrajectory	TRAJECTORY (RMODEL, "right_arm")

Function Documentation

initRepeatedPointTrajectory()

int initRepeatedPointTrajectory

(

robot_trajectory::RobotTrajectory &

trajectory

)

Definition at line 55 of file test_time_parameterization.cpp.

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initStraightTrajectory()

int initStraightTrajectory

(

robot_trajectory::RobotTrajectory &

trajectory

)

Definition at line 81 of file test_time_parameterization.cpp.

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main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 167 of file test_time_parameterization.cpp.

printTrajectory()

void printTrajectory

(

robot_trajectory::RobotTrajectory &

trajectory

)

Definition at line 111 of file test_time_parameterization.cpp.

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TEST() [1/4]

TEST	(	TestTimeParameterization	,
		TestIterativeParabolic
	)

Definition at line 118 of file test_time_parameterization.cpp.

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TEST() [2/4]

TEST	(	TestTimeParameterization	,
		TestIterativeSpline
	)

Definition at line 132 of file test_time_parameterization.cpp.

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TEST() [3/4]

TEST	(	TestTimeParameterization	,
		TestIterativeSplineAddPoints
	)

Definition at line 144 of file test_time_parameterization.cpp.

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TEST() [4/4]

TEST	(	TestTimeParameterization	,
		TestRepeatedPoint
	)

Definition at line 157 of file test_time_parameterization.cpp.

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Variable Documentation

RMODEL

moveit::core::RobotModelConstPtr RMODEL = moveit::core::loadTestingRobotModel("pr2")

Definition at line 51 of file test_time_parameterization.cpp.

TRAJECTORY

robot_trajectory::RobotTrajectory TRAJECTORY(RMODEL, "right_arm")	(	RMODEL	,
		"right_arm"
	)