Inheritance diagram for PandaTestPlanningContext:

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Collaboration diagram for PandaTestPlanningContext:

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Protected Member Functions
	PandaTestPlanningContext ()
Protected Member Functions inherited from TestPlanningContext
void	SetUp () override
planning_interface::MotionPlanRequest	createRequest (const std::vector< double > &start, const std::vector< double > &goal) const
moveit_msgs::msg::PositionConstraint	createPositionConstraint (std::array< double, 3 > position, std::array< double, 3 > dimensions)
	Helper function to create a position constraint.
moveit_msgs::msg::OrientationConstraint	createOrientationConstraint (const geometry_msgs::msg::Quaternion &nominal_orientation)
	Helper function to create a orientation constraint.
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.

Additional Inherited Members
Public Member Functions inherited from TestPlanningContext
	TestPlanningContext (const std::string &robot_name, const std::string &group_name)
void	testSimpleRequest (const std::vector< double > &start, const std::vector< double > &goal)
void	testPathConstraints (const std::vector< double > &start, const std::vector< double > &goal)
Protected Attributes inherited from TestPlanningContext
ompl_interface::ModelBasedStateSpacePtr	state_space_
ompl_interface::ModelBasedPlanningContextSpecification	planning_context_spec_
ompl_interface::ModelBasedPlanningContextPtr	planning_context_
planning_scene::PlanningScenePtr	planning_scene_
constraint_samplers::ConstraintSamplerManagerPtr	constraint_sampler_manager_
rclcpp::Node::SharedPtr	node_
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::JointModelGroup *	joint_model_group_
std::size_t	num_dofs_
std::string	base_link_name_
std::string	ee_link_name_

Detailed Description

Constructor & Destructor Documentation

PandaTestPlanningContext::PandaTestPlanningContext ( )

inlineprotected

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