PandaValidity Class Reference

Inheritance diagram for PandaValidity:

Collaboration diagram for PandaValidity:

Protected Member Functions
	PandaValidity ()
Protected Member Functions inherited from TestStateValidityChecker
void	SetUp () override
void	TearDown () override
void	setupStateSpace ()
void	setupPlanningContext ()
void	SetUp () override
void	setupStateSpace ()
void	setupPlanningContext ()
moveit_msgs::msg::PositionConstraint	createPositionConstraint (std::array< double, 3 > position, std::array< double, 3 > dimensions)
	Helper function to create a position 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 TestStateValidityChecker
	TestStateValidityChecker (const std::string &robot_name, const std::string &group_name)
void	testConstructor ()
void	testJointLimits (const std::vector< double > &position_in_limits)
void	testSelfCollision (const std::vector< double > &position_in_self_collision)
	TestStateValidityChecker (const std::string &robot_name, const std::string &group_name)
void	testConstructor ()
void	testJointLimits (const std::vector< double > &position_in_limits)
void	testSelfCollision (const std::vector< double > &position_in_self_collision)
void	testPathConstraints (const std::vector< double > &position_in_joint_limits)
Protected Attributes inherited from TestStateValidityChecker
moveit::core::RobotStatePtr	initial_robot_state_
ompl_interface::ModelBasedStateSpacePtr	state_space_
ompl_interface::ModelBasedPlanningContextSpecification	planning_context_spec_
ompl_interface::ModelBasedPlanningContextPtr	planning_context_
planning_scene::PlanningScenePtr	planning_scene_
ompl::base::ConstrainedStateSpacePtr	constrained_state_space_
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

Definition at line 265 of file test_state_validity_checker.cpp.

Constructor & Destructor Documentation

PandaValidity()

PandaValidity::PandaValidity ( )

inlineprotected

Definition at line 268 of file test_state_validity_checker.cpp.

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

• moveit_planners/ompl/ompl_interface/test/test_state_validity_checker.cpp