moveit2: KinematicsTest Class Reference

moveit2

The MoveIt Motion Planning Framework for ROS 2.

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Inheritance diagram for KinematicsTest:

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Collaboration 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 161 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 242 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 209 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 225 of file test_kinematics_plugin.cpp.

◆ operator=()

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

inlineprotected

Definition at line 164 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 270 of file test_kinematics_plugin.cpp.

◆ SetUp()

void KinematicsTest::SetUp ( )

inlineoverrideprotected

Definition at line 186 of file test_kinematics_plugin.cpp.

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Member Data Documentation

◆ consistency_limits_

std::vector<double> KinematicsTest::consistency_limits_

Definition at line 303 of file test_kinematics_plugin.cpp.

◆ group_name_

std::string KinematicsTest::group_name_

Definition at line 299 of file test_kinematics_plugin.cpp.

◆ ik_plugin_name_

std::string KinematicsTest::ik_plugin_name_

Definition at line 300 of file test_kinematics_plugin.cpp.

◆ jmg_

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

Definition at line 294 of file test_kinematics_plugin.cpp.

◆ joints_

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

Definition at line 301 of file test_kinematics_plugin.cpp.

◆ kinematics_solver_

kinematics::KinematicsBasePtr KinematicsTest::kinematics_solver_

Definition at line 295 of file test_kinematics_plugin.cpp.

◆ node_

rclcpp::Node::SharedPtr KinematicsTest::node_

Definition at line 292 of file test_kinematics_plugin.cpp.

◆ num_fk_tests_

unsigned int KinematicsTest::num_fk_tests_

Definition at line 306 of file test_kinematics_plugin.cpp.

◆ num_ik_cb_tests_

unsigned int KinematicsTest::num_ik_cb_tests_

Definition at line 307 of file test_kinematics_plugin.cpp.

◆ num_ik_multiple_tests_

unsigned int KinematicsTest::num_ik_multiple_tests_

Definition at line 309 of file test_kinematics_plugin.cpp.

◆ num_ik_tests_

unsigned int KinematicsTest::num_ik_tests_

Definition at line 308 of file test_kinematics_plugin.cpp.

◆ num_nearest_ik_tests_

unsigned int KinematicsTest::num_nearest_ik_tests_

Definition at line 310 of file test_kinematics_plugin.cpp.

◆ publish_trajectory_

bool KinematicsTest::publish_trajectory_

Definition at line 311 of file test_kinematics_plugin.cpp.

◆ rng_

random_numbers::RandomNumberGenerator KinematicsTest::rng_ { 42 }

Definition at line 296 of file test_kinematics_plugin.cpp.

◆ robot_model_

moveit::core::RobotModelPtr KinematicsTest::robot_model_

Definition at line 293 of file test_kinematics_plugin.cpp.

◆ root_link_

std::string KinematicsTest::root_link_

Definition at line 297 of file test_kinematics_plugin.cpp.

◆ seed_

std::vector<double> KinematicsTest::seed_

Definition at line 302 of file test_kinematics_plugin.cpp.

◆ timeout_

double KinematicsTest::timeout_

Definition at line 304 of file test_kinematics_plugin.cpp.

◆ tip_link_

std::string KinematicsTest::tip_link_

Definition at line 298 of file test_kinematics_plugin.cpp.

◆ tolerance_

double KinematicsTest::tolerance_

Definition at line 305 of file test_kinematics_plugin.cpp.

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

moveit_kinematics/test/test_kinematics_plugin.cpp