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The MoveIt Motion Planning Framework for ROS 2.
Protected Member Functions | List of all members
FanucConstraintTest Class Reference
Inheritance 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. More...
 
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. More...
 
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. More...
 

Additional Inherited Members

- Protected Attributes inherited from TestOMPLConstraints
std::shared_ptr< ompl_interface::BaseConstraintconstraint_
 
- 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::JointModelGroupjoint_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::FanucConstraintTest ( )
inlineprotected

Definition at line 354 of file test_ompl_constraints.cpp.


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