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

Protected Member Functions

 PandaConstraintTest ()
- Protected Member Functions inherited from TestOMPLConstraints
 TestOMPLConstraints (const std::string &robot_name, const std::string &group_name)
void SetUp () override
void TearDown () override
const Eigen::Isometry3d fk (const Eigen::VectorXd &q, const std::string &link_name) const
 Robot forward kinematics. More...
Eigen::VectorXd getRandomState ()
Eigen::MatrixXd numericalJacobianPosition (const Eigen::VectorXd &q, const std::string &link_name) const
void setPositionConstraints ()
void setPositionConstraintsDifferentLink ()
 Test position constraints a link that is not the end-effector. More...
void setEqualityPositionConstraints ()
void testJacobian ()
void testOMPLProjectedStateSpaceConstruction ()
void testEqualityPositionConstraints ()
- Protected Member Functions inherited from ompl_interface_testing::LoadTestRobot
 LoadTestRobot (const std::string &robot_name, const std::string &group_name)
Eigen::VectorXd getRandomState () const
Eigen::VectorXd getDeterministicState () const
 Create a joint position vector with values 0.1, 0.2, 0.3, ... where the length depends on the number of joints in the robot. More...

Additional Inherited Members

- Protected Attributes inherited from TestOMPLConstraints
std::shared_ptr< ompl_interface::BaseConstraintconstraint_
- Protected Attributes inherited from ompl_interface_testing::LoadTestRobot
std::string group_name_
std::string robot_name_
moveit::core::RobotModelPtr robot_model_
moveit::core::RobotStatePtr robot_state_
const moveit::core::JointModelGroupjoint_model_group_
std::size_t num_dofs_
std::string base_link_name_
std::string ee_link_name_

Detailed Description

Definition at line 307 of file test_ompl_constraints.cpp.

Constructor & Destructor Documentation

◆ PandaConstraintTest()

PandaConstraintTest::PandaConstraintTest ( )

Definition at line 310 of file test_ompl_constraints.cpp.

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