TestConstrainedStateSpace Class Reference

Robot independent implementation of the tests.
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Inheritance diagram for TestConstrainedStateSpace:

Collaboration diagram for TestConstrainedStateSpace:

Protected Member Functions
	TestConstrainedStateSpace (const std::string &robot_name, const std::string &group_name)
void	SetUp () override
void	TearDown () override
void	setupMoveItStateSpace ()
void	setupOMPLStateSpace ()
void	testGetValueAddressAtIndex ()
void	testCopyToRobotState ()
void	testCopyToOMPLState ()
void	testCopyJointToOMPLState ()
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.

Protected Attributes
ompl::base::ConstrainedStateSpacePtr	constrained_state_space_
ompl_interface::ConstrainedPlanningStateSpacePtr	moveit_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

Robot independent implementation of the tests.

Definition at line 81 of file test_constrained_planning_state_space.cpp.

Constructor & Destructor Documentation

TestConstrainedStateSpace()

TestConstrainedStateSpace::TestConstrainedStateSpace ( const std::string &  robot_name, const std::string &  group_name  )

inlineprotected

Definition at line 84 of file test_constrained_planning_state_space.cpp.

Member Function Documentation

SetUp()

void TestConstrainedStateSpace::SetUp ( )

inlineoverrideprotected

Definition at line 89 of file test_constrained_planning_state_space.cpp.

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setupMoveItStateSpace()

void TestConstrainedStateSpace::setupMoveItStateSpace ( )

inlineprotected

Definition at line 100 of file test_constrained_planning_state_space.cpp.

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setupOMPLStateSpace()

void TestConstrainedStateSpace::setupOMPLStateSpace ( )

inlineprotected

Definition at line 106 of file test_constrained_planning_state_space.cpp.

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TearDown()

void TestConstrainedStateSpace::TearDown ( )

inlineoverrideprotected

Definition at line 96 of file test_constrained_planning_state_space.cpp.

testCopyJointToOMPLState()

void TestConstrainedStateSpace::testCopyJointToOMPLState ( )

inlineprotected

Definition at line 201 of file test_constrained_planning_state_space.cpp.

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testCopyToOMPLState()

void TestConstrainedStateSpace::testCopyToOMPLState ( )

inlineprotected

Definition at line 175 of file test_constrained_planning_state_space.cpp.

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testCopyToRobotState()

void TestConstrainedStateSpace::testCopyToRobotState ( )

inlineprotected

Definition at line 139 of file test_constrained_planning_state_space.cpp.

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testGetValueAddressAtIndex()

void TestConstrainedStateSpace::testGetValueAddressAtIndex ( )

inlineprotected

Definition at line 114 of file test_constrained_planning_state_space.cpp.

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Member Data Documentation

constrained_state_space_

ompl::base::ConstrainedStateSpacePtr TestConstrainedStateSpace::constrained_state_space_

protected

Definition at line 240 of file test_constrained_planning_state_space.cpp.

moveit_state_space_

ompl_interface::ConstrainedPlanningStateSpacePtr TestConstrainedStateSpace::moveit_state_space_

protected

Definition at line 241 of file test_constrained_planning_state_space.cpp.

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

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