moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Public Member Functions | Public Attributes | Protected Member Functions | List of all members
KinematicsTest Class Reference
Inheritance diagram for KinematicsTest:
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Public Member Functions

testing::AssertionResult isNear (const char *expr1, const char *expr2, const char *, const geometry_msgs::msg::Point &val1, const geometry_msgs::msg::Point &val2, double abs_error)
testing::AssertionResult isNear (const char *expr1, const char *expr2, const char *, const geometry_msgs::msg::Quaternion &val1, const geometry_msgs::msg::Quaternion &val2, double abs_error)
testing::AssertionResult expectNearHelper (const char *expr1, const char *expr2, const char *abs_error_expr, const std::vector< geometry_msgs::msg::Pose > &val1, const std::vector< geometry_msgs::msg::Pose > &val2, double abs_error)
void searchIKCallback (const std::vector< double > &joint_state, moveit_msgs::msg::MoveItErrorCodes &error_code)

Public Attributes

rclcpp::Node::SharedPtr node_
moveit::core::RobotModelPtr robot_model_
moveit::core::JointModelGroup * jmg_
kinematics::KinematicsBasePtr kinematics_solver_
random_numbers::RandomNumberGenerator rng_ { 42 }
std::string root_link_
std::string tip_link_
std::string group_name_
std::string ik_plugin_name_
std::vector< std::string > joints_
std::vector< double > seed_
std::vector< double > consistency_limits_
double timeout_
double tolerance_
unsigned int num_fk_tests_
unsigned int num_ik_cb_tests_
unsigned int num_ik_tests_
unsigned int num_ik_multiple_tests_
unsigned int num_nearest_ik_tests_
bool publish_trajectory_

Protected Member Functions

void operator= (const SharedData &data)
void SetUp () override

Detailed Description

Definition at line 162 of file test_kinematics_plugin.cpp.

Member Function Documentation

◆ expectNearHelper()

testing::AssertionResult KinematicsTest::expectNearHelper ( const char * expr1,
const char * expr2,
const char * abs_error_expr,
const std::vector< geometry_msgs::msg::Pose > & val1,
const std::vector< geometry_msgs::msg::Pose > & val2,
double abs_error )
inline

Definition at line 243 of file test_kinematics_plugin.cpp.

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◆ isNear() [1/2]

testing::AssertionResult KinematicsTest::isNear ( const char * expr1,
const char * expr2,
const char * ,
const geometry_msgs::msg::Point & val1,
const geometry_msgs::msg::Point & val2,
double abs_error )
inline

Definition at line 210 of file test_kinematics_plugin.cpp.

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◆ isNear() [2/2]

testing::AssertionResult KinematicsTest::isNear ( const char * expr1,
const char * expr2,
const char * ,
const geometry_msgs::msg::Quaternion & val1,
const geometry_msgs::msg::Quaternion & val2,
double abs_error )
inline

Definition at line 226 of file test_kinematics_plugin.cpp.

◆ operator=()

void KinematicsTest::operator= ( const SharedData & data)
inlineprotected

Definition at line 165 of file test_kinematics_plugin.cpp.

◆ searchIKCallback()

void KinematicsTest::searchIKCallback ( const std::vector< double > & joint_state,
moveit_msgs::msg::MoveItErrorCodes & error_code )
inline

Definition at line 271 of file test_kinematics_plugin.cpp.

◆ SetUp()

void KinematicsTest::SetUp ( )
inlineoverrideprotected

Definition at line 187 of file test_kinematics_plugin.cpp.

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Member Data Documentation

◆ consistency_limits_

std::vector<double> KinematicsTest::consistency_limits_

Definition at line 304 of file test_kinematics_plugin.cpp.

◆ group_name_

std::string KinematicsTest::group_name_

Definition at line 300 of file test_kinematics_plugin.cpp.

◆ ik_plugin_name_

std::string KinematicsTest::ik_plugin_name_

Definition at line 301 of file test_kinematics_plugin.cpp.

◆ jmg_

moveit::core::JointModelGroup* KinematicsTest::jmg_

Definition at line 295 of file test_kinematics_plugin.cpp.

◆ joints_

std::vector<std::string> KinematicsTest::joints_

Definition at line 302 of file test_kinematics_plugin.cpp.

◆ kinematics_solver_

kinematics::KinematicsBasePtr KinematicsTest::kinematics_solver_

Definition at line 296 of file test_kinematics_plugin.cpp.

◆ node_

rclcpp::Node::SharedPtr KinematicsTest::node_

Definition at line 293 of file test_kinematics_plugin.cpp.

◆ num_fk_tests_

unsigned int KinematicsTest::num_fk_tests_

Definition at line 307 of file test_kinematics_plugin.cpp.

◆ num_ik_cb_tests_

unsigned int KinematicsTest::num_ik_cb_tests_

Definition at line 308 of file test_kinematics_plugin.cpp.

◆ num_ik_multiple_tests_

unsigned int KinematicsTest::num_ik_multiple_tests_

Definition at line 310 of file test_kinematics_plugin.cpp.

◆ num_ik_tests_

unsigned int KinematicsTest::num_ik_tests_

Definition at line 309 of file test_kinematics_plugin.cpp.

◆ num_nearest_ik_tests_

unsigned int KinematicsTest::num_nearest_ik_tests_

Definition at line 311 of file test_kinematics_plugin.cpp.

◆ publish_trajectory_

bool KinematicsTest::publish_trajectory_

Definition at line 312 of file test_kinematics_plugin.cpp.

◆ rng_

random_numbers::RandomNumberGenerator KinematicsTest::rng_ { 42 }

Definition at line 297 of file test_kinematics_plugin.cpp.

◆ robot_model_

moveit::core::RobotModelPtr KinematicsTest::robot_model_

Definition at line 294 of file test_kinematics_plugin.cpp.

◆ root_link_

std::string KinematicsTest::root_link_

Definition at line 298 of file test_kinematics_plugin.cpp.

◆ seed_

std::vector<double> KinematicsTest::seed_

Definition at line 303 of file test_kinematics_plugin.cpp.

◆ timeout_

double KinematicsTest::timeout_

Definition at line 305 of file test_kinematics_plugin.cpp.

◆ tip_link_

std::string KinematicsTest::tip_link_

Definition at line 299 of file test_kinematics_plugin.cpp.

◆ tolerance_

double KinematicsTest::tolerance_

Definition at line 306 of file test_kinematics_plugin.cpp.

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