FloatingJointRobot Class Reference

Inheritance diagram for FloatingJointRobot:

Collaboration diagram for FloatingJointRobot:

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 ( )

inlineoverrideprotected

Definition at line 97 of file test_orientation_constraints.cpp.

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TearDown()

void FloatingJointRobot::TearDown ( )

inlineoverrideprotected

Definition at line 123 of file test_orientation_constraints.cpp.

Member Data Documentation

robot_model_

moveit::core::RobotModelPtr FloatingJointRobot::robot_model_

protected

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_

protected

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_

protected

Definition at line 95 of file test_orientation_constraints.cpp.

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

• moveit_core/kinematic_constraints/test/test_orientation_constraints.cpp