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

void SetUp () override
void TearDown () override

Protected Attributes

moveit::core::RobotModelPtr robot_model_
Eigen::Matrix< double, 8, 4 > valid_euler_data_
Eigen::Matrix< double, 8, 4 > valid_rotvec_data_

Detailed Description

Definition at line 79 of file test_orientation_constraints.cpp.

Member Function Documentation

◆ SetUp()

void FloatingJointRobot::SetUp ( )

Definition at line 97 of file test_orientation_constraints.cpp.

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◆ TearDown()

void FloatingJointRobot::TearDown ( )

Definition at line 123 of file test_orientation_constraints.cpp.

Member Data Documentation

◆ robot_model_

moveit::core::RobotModelPtr FloatingJointRobot::robot_model_

A robot model with a single floating joint will be created.

Definition at line 83 of file test_orientation_constraints.cpp.

◆ valid_euler_data_

Eigen::Matrix<double, 8, 4> FloatingJointRobot::valid_euler_data_

Test data

The test data represents valid orientations for an absolute tolerance of 0.5 around x, y and z.

The first matrix contains valid orientations for xyx_euler_angles error, but invalid for rotation_vector. The second matrix is the other way around.

The rows contain a quaternion in the order x, y, z and w.

Definition at line 94 of file test_orientation_constraints.cpp.

◆ valid_rotvec_data_

Eigen::Matrix<double, 8, 4> FloatingJointRobot::valid_rotvec_data_

Definition at line 95 of file test_orientation_constraints.cpp.

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