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

void SetUp () override
 
void synchronizeGeometryUpdate (const std::function< void()> &updater)
 
void planAndMoveToPose (const geometry_msgs::Pose &pose)
 
void planAndMove ()
 
void testEigenPose (const Eigen::Isometry3d &expected, const Eigen::Isometry3d &actual)
 
void testPose (const Eigen::Isometry3d &expected_pose)
 
void testPose (const geometry_msgs::Pose &expected_pose_msg)
 
void testJointPositions (const std::vector< double > &expected)
 

Protected Attributes

ros::NodeHandle nh_
 
moveit::planning_interface::MoveGroupInterfacePtr move_group_
 
moveit::planning_interface::PlanningSceneInterface planning_scene_interface_
 
planning_scene_monitor::PlanningSceneMonitorPtr psm_
 

Detailed Description

Definition at line 73 of file move_group_interface_cpp_test.cpp.

Member Function Documentation

◆ planAndMove()

void MoveGroupTestFixture::planAndMove ( )
inline

Definition at line 125 of file move_group_interface_cpp_test.cpp.

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◆ planAndMoveToPose()

void MoveGroupTestFixture::planAndMoveToPose ( const geometry_msgs::Pose &  pose)
inline

Definition at line 118 of file move_group_interface_cpp_test.cpp.

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◆ SetUp()

void MoveGroupTestFixture::SetUp ( )
inlineoverride

Definition at line 76 of file move_group_interface_cpp_test.cpp.

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◆ synchronizeGeometryUpdate()

void MoveGroupTestFixture::synchronizeGeometryUpdate ( const std::function< void()> &  updater)
inline

Definition at line 103 of file move_group_interface_cpp_test.cpp.

◆ testEigenPose()

void MoveGroupTestFixture::testEigenPose ( const Eigen::Isometry3d &  expected,
const Eigen::Isometry3d &  actual 
)
inline

Definition at line 133 of file move_group_interface_cpp_test.cpp.

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◆ testJointPositions()

void MoveGroupTestFixture::testJointPositions ( const std::vector< double > &  expected)
inline

Definition at line 161 of file move_group_interface_cpp_test.cpp.

◆ testPose() [1/2]

void MoveGroupTestFixture::testPose ( const Eigen::Isometry3d &  expected_pose)
inline

Definition at line 141 of file move_group_interface_cpp_test.cpp.

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◆ testPose() [2/2]

void MoveGroupTestFixture::testPose ( const geometry_msgs::Pose &  expected_pose_msg)
inline

Definition at line 153 of file move_group_interface_cpp_test.cpp.

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Member Data Documentation

◆ move_group_

moveit::planning_interface::MoveGroupInterfacePtr MoveGroupTestFixture::move_group_
protected

Definition at line 178 of file move_group_interface_cpp_test.cpp.

◆ nh_

ros::NodeHandle MoveGroupTestFixture::nh_
protected

Definition at line 177 of file move_group_interface_cpp_test.cpp.

◆ planning_scene_interface_

moveit::planning_interface::PlanningSceneInterface MoveGroupTestFixture::planning_scene_interface_
protected

Definition at line 179 of file move_group_interface_cpp_test.cpp.

◆ psm_

planning_scene_monitor::PlanningSceneMonitorPtr MoveGroupTestFixture::psm_
protected

Definition at line 180 of file move_group_interface_cpp_test.cpp.


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