Inheritance diagram for FanucConstraintTest:

[legend]

Collaboration diagram for FanucConstraintTest:

[legend]

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.

Here is the call graph for this function:

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