moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Protected Member Functions | |
FanucTestPlanningContext () | |
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void | SetUp () override |
planning_interface::MotionPlanRequest | createRequest (const std::vector< double > &start, const std::vector< double > &goal) const |
moveit_msgs::msg::PositionConstraint | createPositionConstraint (std::array< double, 3 > position, std::array< double, 3 > dimensions) |
Helper function to create a position constraint. | |
moveit_msgs::msg::OrientationConstraint | createOrientationConstraint (const geometry_msgs::msg::Quaternion &nominal_orientation) |
Helper function to create a orientation constraint. | |
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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 | |
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TestPlanningContext (const std::string &robot_name, const std::string &group_name) | |
void | testSimpleRequest (const std::vector< double > &start, const std::vector< double > &goal) |
void | testPathConstraints (const std::vector< double > &start, const std::vector< double > &goal) |
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ompl_interface::ModelBasedStateSpacePtr | state_space_ |
ompl_interface::ModelBasedPlanningContextSpecification | planning_context_spec_ |
ompl_interface::ModelBasedPlanningContextPtr | planning_context_ |
planning_scene::PlanningScenePtr | planning_scene_ |
constraint_samplers::ConstraintSamplerManagerPtr | constraint_sampler_manager_ |
rclcpp::Node::SharedPtr | node_ |
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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_ |
Definition at line 336 of file test_planning_context_manager.cpp.
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inlineprotected |
Definition at line 339 of file test_planning_context_manager.cpp.