moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Public Member Functions | Protected Attributes | List of all members
ConstrainedPlanningTestFixture Class Reference
Inheritance diagram for ConstrainedPlanningTestFixture:
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Collaboration diagram for ConstrainedPlanningTestFixture:
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Public Member Functions

void SetUp () override
 
 ConstrainedPlanningTestFixture ()
 
void TearDown () override
 
void planAndMove (const geometry_msgs::msg::PoseStamped &pose_goal_stamped, const moveit_msgs::msg::Constraints &path_constraint)
 
void testPose (const geometry_msgs::msg::PoseStamped &pose_goal_stamped)
 

Protected Attributes

rclcpp::Node::SharedPtr node_
 
rclcpp::Executor::SharedPtr executor_
 
std::thread executor_thread_
 
moveit::planning_interface::MoveGroupInterfacePtr move_group_
 
std::string ref_link_
 
std::string ee_link_
 

Detailed Description

Definition at line 63 of file move_group_ompl_constraints_test.cpp.

Constructor & Destructor Documentation

◆ ConstrainedPlanningTestFixture()

ConstrainedPlanningTestFixture::ConstrainedPlanningTestFixture ( )
inline

Definition at line 82 of file move_group_ompl_constraints_test.cpp.

Member Function Documentation

◆ planAndMove()

void ConstrainedPlanningTestFixture::planAndMove ( const geometry_msgs::msg::PoseStamped &  pose_goal_stamped,
const moveit_msgs::msg::Constraints &  path_constraint 
)
inline

Definition at line 97 of file move_group_ompl_constraints_test.cpp.

◆ SetUp()

void ConstrainedPlanningTestFixture::SetUp ( )
inlineoverride

Definition at line 66 of file move_group_ompl_constraints_test.cpp.

◆ TearDown()

void ConstrainedPlanningTestFixture::TearDown ( )
inlineoverride

Definition at line 88 of file move_group_ompl_constraints_test.cpp.

◆ testPose()

void ConstrainedPlanningTestFixture::testPose ( const geometry_msgs::msg::PoseStamped &  pose_goal_stamped)
inline

Definition at line 110 of file move_group_ompl_constraints_test.cpp.

Member Data Documentation

◆ ee_link_

std::string ConstrainedPlanningTestFixture::ee_link_
protected

Definition at line 130 of file move_group_ompl_constraints_test.cpp.

◆ executor_

rclcpp::Executor::SharedPtr ConstrainedPlanningTestFixture::executor_
protected

Definition at line 127 of file move_group_ompl_constraints_test.cpp.

◆ executor_thread_

std::thread ConstrainedPlanningTestFixture::executor_thread_
protected

Definition at line 128 of file move_group_ompl_constraints_test.cpp.

◆ move_group_

moveit::planning_interface::MoveGroupInterfacePtr ConstrainedPlanningTestFixture::move_group_
protected

Definition at line 129 of file move_group_ompl_constraints_test.cpp.

◆ node_

rclcpp::Node::SharedPtr ConstrainedPlanningTestFixture::node_
protected

Definition at line 126 of file move_group_ompl_constraints_test.cpp.

◆ ref_link_

std::string ConstrainedPlanningTestFixture::ref_link_
protected

Definition at line 130 of file move_group_ompl_constraints_test.cpp.


The documentation for this class was generated from the following file: