unittest_trajectory_generator_lin.cpp File Reference

#include <memory>
#include <gtest/gtest.h>
#include <pilz_industrial_motion_planner/joint_limits_aggregator.h>
#include <pilz_industrial_motion_planner/trajectory_generator_lin.h>
#include <pilz_industrial_motion_planner_testutils/command_types_typedef.h>
#include <pilz_industrial_motion_planner_testutils/xml_testdata_loader.h>
#include "test_utils.h"
#include <moveit/kinematic_constraints/utils.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/robot_state/robot_state.h>
#include <rclcpp/rclcpp.hpp>

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Classes
class	TrajectoryGeneratorLINTest
	Parameterized unittest of trajectory generator LIN to enable tests against different robot models.The parameter is the name of robot model parameter on the ros parameter server. More...

Functions
const std::string	TEST_DATA_FILE_NAME ("testdata_file_name")
const std::string	PARAM_PLANNING_GROUP_NAME ("planning_group")
const std::string	TARGET_LINK_HCD ("target_link_hand_computed_data")
const std::string	RANDOM_TEST_TRIAL_NUM ("random_trial_number")
const std::string	JOINT_POSITION_TOLERANCE ("joint_position_tolerance")
const std::string	JOINT_VELOCITY_TOLERANCE ("joint_velocity_tolerance")
const std::string	POSE_TRANSFORM_MATRIX_NORM_TOLERANCE ("pose_norm_tolerance")
const std::string	ROTATION_AXIS_NORM_TOLERANCE ("rot_axis_norm_tolerance")
const std::string	VELOCITY_SCALING_FACTOR ("velocity_scaling_factor")
const std::string	OTHER_TOLERANCE ("other_tolerance")
	TEST_F (TrajectoryGeneratorLINTest, TestExceptionErrorCodeMapping)
	Checks that each derived MoveItErrorCodeException contains the correct error code. More...
	TEST_F (TrajectoryGeneratorLINTest, nonZeroStartVelocity)
	test the lin planner with invalid motion plan request which has non zero start velocity More...
	TEST_F (TrajectoryGeneratorLINTest, jointSpaceGoal)
	test the lin planner with joint space goal More...
	TEST_F (TrajectoryGeneratorLINTest, jointSpaceGoalNearZeroStartVelocity)
	test the lin planner with joint space goal with start velocity almost zero More...
	TEST_F (TrajectoryGeneratorLINTest, cartesianSpaceGoal)
	test the lin planner with Cartesian goal More...
	TEST_F (TrajectoryGeneratorLINTest, cartesianTrapezoidProfile)
	test the trapezoid shape of the planning trajectory in Cartesian space More...
	TEST_F (TrajectoryGeneratorLINTest, LinPlannerLimitViolation)
	Check that lin planner returns 'false' if calculated lin trajectory violates velocity/acceleration or deceleration limits. More...
	TEST_F (TrajectoryGeneratorLINTest, LinPlannerDiscontinuousJointTraj)
	test joint linear movement with discontinuities in joint space More...
	TEST_F (TrajectoryGeneratorLINTest, LinStartEqualsGoal)
	test joint linear movement with equal goal and start More...
	TEST_F (TrajectoryGeneratorLINTest, CtorNoLimits)
	Checks that constructor throws an exception if no limits are given. More...
	TEST_F (TrajectoryGeneratorLINTest, IncorrectJointNumber)
	Checks that generate() function returns 'false' if called with an incorrect number of joints. More...
	TEST_F (TrajectoryGeneratorLINTest, cartGoalIncompleteStartState)
	test invalid motion plan request with incomplete start state and cartesian goal More...
	TEST_F (TrajectoryGeneratorLINTest, cartGoalFrameIdBothConstraints)
	Set a frame id in goal constraint with cartesian goal on both position and orientation constraints. More...
int	main (int argc, char **argv)

Function Documentation

JOINT_POSITION_TOLERANCE()

const std::string JOINT_POSITION_TOLERANCE

(

"joint_position_tolerance"

)

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JOINT_VELOCITY_TOLERANCE()

const std::string JOINT_VELOCITY_TOLERANCE

(

"joint_velocity_tolerance"

)

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main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 470 of file unittest_trajectory_generator_lin.cpp.

OTHER_TOLERANCE()

const std::string OTHER_TOLERANCE

(

"other_tolerance"

)

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PARAM_PLANNING_GROUP_NAME()

const std::string PARAM_PLANNING_GROUP_NAME

(

"planning_group"

)

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POSE_TRANSFORM_MATRIX_NORM_TOLERANCE()

const std::string POSE_TRANSFORM_MATRIX_NORM_TOLERANCE

(

"pose_norm_tolerance"

)

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RANDOM_TEST_TRIAL_NUM()

const std::string RANDOM_TEST_TRIAL_NUM

(

"random_trial_number"

)

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ROTATION_AXIS_NORM_TOLERANCE()

const std::string ROTATION_AXIS_NORM_TOLERANCE

(

"rot_axis_norm_tolerance"

)

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TARGET_LINK_HCD()

const std::string TARGET_LINK_HCD

(

"target_link_hand_computed_data"

)

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TEST_DATA_FILE_NAME()

const std::string TEST_DATA_FILE_NAME

(

"testdata_file_name"

)

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TEST_F() [1/13]

TEST_F	(	TrajectoryGeneratorLINTest	,
		cartesianSpaceGoal
	)

test the lin planner with Cartesian goal

Definition at line 267 of file unittest_trajectory_generator_lin.cpp.

TEST_F() [2/13]

TEST_F	(	TrajectoryGeneratorLINTest	,
		cartesianTrapezoidProfile
	)

test the trapezoid shape of the planning trajectory in Cartesian space

The test checks translational path for a trapezoid velocity profile. Due to the way the acceleration is calculated 1 or 2 intermediate points occur that are neither acceleration, constant or deceleration.

+++++++++++++++++++++++

• plan LIN trajectory + +++++++++++++++++++++++

Definition at line 289 of file unittest_trajectory_generator_lin.cpp.

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TEST_F() [3/13]

TEST_F	(	TrajectoryGeneratorLINTest	,
		cartGoalFrameIdBothConstraints
	)

Set a frame id in goal constraint with cartesian goal on both position and orientation constraints.

Definition at line 453 of file unittest_trajectory_generator_lin.cpp.

TEST_F() [4/13]

TEST_F	(	TrajectoryGeneratorLINTest	,
		cartGoalIncompleteStartState
	)

test invalid motion plan request with incomplete start state and cartesian goal

Definition at line 435 of file unittest_trajectory_generator_lin.cpp.

TEST_F() [5/13]

TEST_F	(	TrajectoryGeneratorLINTest	,
		CtorNoLimits
	)

Checks that constructor throws an exception if no limits are given.

Test Sequence:

1. Call Ctor without set limits.

Expected Results:

1. Ctor throws exception.

Definition at line 399 of file unittest_trajectory_generator_lin.cpp.

TEST_F() [6/13]

TEST_F	(	TrajectoryGeneratorLINTest	,
		IncorrectJointNumber
	)

Checks that generate() function returns 'false' if called with an incorrect number of joints.

Test Sequence:

1. Call functions with incorrect number of joints.

Expected Results:

1. Function returns 'false'.

Definition at line 417 of file unittest_trajectory_generator_lin.cpp.

TEST_F() [7/13]

TEST_F	(	TrajectoryGeneratorLINTest	,
		jointSpaceGoal
	)

test the lin planner with joint space goal

Definition at line 230 of file unittest_trajectory_generator_lin.cpp.

TEST_F() [8/13]

TEST_F	(	TrajectoryGeneratorLINTest	,
		jointSpaceGoalNearZeroStartVelocity
	)

test the lin planner with joint space goal with start velocity almost zero

Definition at line 247 of file unittest_trajectory_generator_lin.cpp.

TEST_F() [9/13]

TEST_F	(	TrajectoryGeneratorLINTest	,
		LinPlannerDiscontinuousJointTraj
	)

test joint linear movement with discontinuities in joint space

This will violate joint velocity/acceleration limits.

Test Sequence:

1. Generate lin trajectory which is discontinuous in joint space.

Expected Results:

1. Function returns 'false'.

Definition at line 344 of file unittest_trajectory_generator_lin.cpp.

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TEST_F() [10/13]

TEST_F	(	TrajectoryGeneratorLINTest	,
		LinPlannerLimitViolation
	)

Check that lin planner returns 'false' if calculated lin trajectory violates velocity/acceleration or deceleration limits.

Test Sequence:

1. Call function with lin request violating velocity/acceleration or deceleration limits.

Expected Results:

1. Function returns 'false'.

Definition at line 324 of file unittest_trajectory_generator_lin.cpp.

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TEST_F() [11/13]

TEST_F	(	TrajectoryGeneratorLINTest	,
		LinStartEqualsGoal
	)

test joint linear movement with equal goal and start

Test Sequence:

1. Call function with lin request start = goal

Expected Results:

1. trajectory generation is successful.

Definition at line 368 of file unittest_trajectory_generator_lin.cpp.

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TEST_F() [12/13]

TEST_F	(	TrajectoryGeneratorLINTest	,
		nonZeroStartVelocity
	)

test the lin planner with invalid motion plan request which has non zero start velocity

Definition at line 214 of file unittest_trajectory_generator_lin.cpp.

TEST_F() [13/13]

TEST_F	(	TrajectoryGeneratorLINTest	,
		TestExceptionErrorCodeMapping
	)

Checks that each derived MoveItErrorCodeException contains the correct error code.

Definition at line 187 of file unittest_trajectory_generator_lin.cpp.

VELOCITY_SCALING_FACTOR()

const std::string VELOCITY_SCALING_FACTOR

(

"velocity_scaling_factor"

)

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