unittest_joint_limits_aggregator.cpp File Reference

#include <gtest/gtest.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <pilz_industrial_motion_planner/joint_limits_aggregator.h>
#include <pilz_industrial_motion_planner/joint_limits_extension.h>
#include <pilz_industrial_motion_planner/joint_limits_interface_extension.h>
#include <rclcpp/rclcpp.hpp>

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Classes
class	JointLimitsAggregator
	Unittest of the JointLimitsAggregator class. More...

Functions
	TEST_F (JointLimitsAggregator, ExpectedMapSize)
	Check for that the size of the map and the size of the given joint models is equal. More...
	TEST_F (JointLimitsAggregator, CorrectOverwriteByParamterPosition)
	Check that the value in the node parameters correctly overrides the position(if within limits) More...
	TEST_F (JointLimitsAggregator, CorrectOverwriteByParamterVelocity)
	Check that the value in the node parameter correctly overrides the velocity(if within limits) More...
	TEST_F (JointLimitsAggregator, CorrectSettingAccelerationAndDeceleration)
	Check that the acceleration and deceleration are set properly. More...
	TEST_F (JointLimitsAggregator, LimitsViolationPosition)
	Check that position limit violations are detected properly. More...
	TEST_F (JointLimitsAggregator, LimitsViolationVelocity)
	Check that velocity limit violations are detected properly. More...
int	main (int argc, char **argv)

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 195 of file unittest_joint_limits_aggregator.cpp.

TEST_F() [1/6]

TEST_F	(	JointLimitsAggregator	,
		CorrectOverwriteByParamterPosition
	)

Check that the value in the node parameters correctly overrides the position(if within limits)

Definition at line 92 of file unittest_joint_limits_aggregator.cpp.

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TEST_F() [2/6]

TEST_F	(	JointLimitsAggregator	,
		CorrectOverwriteByParamterVelocity
	)

Check that the value in the node parameter correctly overrides the velocity(if within limits)

Definition at line 121 of file unittest_joint_limits_aggregator.cpp.

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TEST_F() [3/6]

TEST_F	(	JointLimitsAggregator	,
		CorrectSettingAccelerationAndDeceleration
	)

Check that the acceleration and deceleration are set properly.

Definition at line 145 of file unittest_joint_limits_aggregator.cpp.

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TEST_F() [4/6]

TEST_F	(	JointLimitsAggregator	,
		ExpectedMapSize
	)

Check for that the size of the map and the size of the given joint models is equal.

Definition at line 79 of file unittest_joint_limits_aggregator.cpp.

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TEST_F() [5/6]

TEST_F	(	JointLimitsAggregator	,
		LimitsViolationPosition
	)

Check that position limit violations are detected properly.

Definition at line 174 of file unittest_joint_limits_aggregator.cpp.

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TEST_F() [6/6]

TEST_F	(	JointLimitsAggregator	,
		LimitsViolationVelocity
	)

Check that velocity limit violations are detected properly.

Definition at line 188 of file unittest_joint_limits_aggregator.cpp.

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