Inheritance diagram for FanucConstraintTest:

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Collaboration diagram for FanucConstraintTest:

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Protected Member Functions
	FanucConstraintTest ()

Protected Member Functions inherited from TestOMPLConstraints
	TestOMPLConstraints (const std::string &robot_name, const std::string &group_name)

void	SetUp () override

void	TearDown () override

const Eigen::Isometry3d	fk (const Eigen::VectorXd &q, const std::string &link_name) const
	Robot forward kinematics.

Eigen::VectorXd	getRandomState ()

Eigen::MatrixXd	numericalJacobianPosition (const Eigen::VectorXd &q, const std::string &link_name) const

void	setPositionConstraints ()

void	setPositionConstraintsDifferentLink ()
	Test position constraints a link that is not the end-effector.

void	setEqualityPositionConstraints ()

void	testJacobian ()

void	testOMPLProjectedStateSpaceConstruction ()

void	testEqualityPositionConstraints ()

Protected Member Functions inherited from ompl_interface_testing::LoadTestRobot
	LoadTestRobot (const std::string &robot_name, const std::string &group_name)

Eigen::VectorXd	getRandomState () const

Eigen::VectorXd	getDeterministicState () const
	Create a joint position vector with values 0.1, 0.2, 0.3, ... where the length depends on the number of joints in the robot.

Additional Inherited Members
Protected Attributes inherited from TestOMPLConstraints
std::shared_ptr< ompl_interface::BaseConstraint >	constraint_

Protected Attributes inherited from ompl_interface_testing::LoadTestRobot
std::string	group_name_

std::string	robot_name_

moveit::core::RobotModelPtr	robot_model_

moveit::core::RobotStatePtr	robot_state_

const moveit::core::JointModelGroup *	joint_model_group_

std::size_t	num_dofs_

std::string	base_link_name_

std::string	ee_link_name_

Detailed Description

Definition at line 351 of file test_ompl_constraints.cpp.

Constructor & Destructor Documentation

FanucConstraintTest::FanucConstraintTest ( )

inlineprotected

Definition at line 354 of file test_ompl_constraints.cpp.

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