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

 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...
 

Protected Attributes

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 106 of file test_ompl_constraints.cpp.

Constructor & Destructor Documentation

◆ TestOMPLConstraints()

TestOMPLConstraints::TestOMPLConstraints ( const std::string &  robot_name,
const std::string &  group_name 
)
inlineprotected

Definition at line 109 of file test_ompl_constraints.cpp.

Member Function Documentation

◆ fk()

const Eigen::Isometry3d TestOMPLConstraints::fk ( const Eigen::VectorXd &  q,
const std::string &  link_name 
) const
inlineprotected

Robot forward kinematics.

Definition at line 123 of file test_ompl_constraints.cpp.

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◆ getRandomState()

Eigen::VectorXd TestOMPLConstraints::getRandomState ( )
inlineprotected

Definition at line 129 of file test_ompl_constraints.cpp.

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◆ numericalJacobianPosition()

Eigen::MatrixXd TestOMPLConstraints::numericalJacobianPosition ( const Eigen::VectorXd &  q,
const std::string &  link_name 
) const
inlineprotected

Definition at line 137 of file test_ompl_constraints.cpp.

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◆ setEqualityPositionConstraints()

void TestOMPLConstraints::setEqualityPositionConstraints ( )
inlineprotected

Definition at line 179 of file test_ompl_constraints.cpp.

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◆ setPositionConstraints()

void TestOMPLConstraints::setPositionConstraints ( )
inlineprotected

Definition at line 156 of file test_ompl_constraints.cpp.

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◆ setPositionConstraintsDifferentLink()

void TestOMPLConstraints::setPositionConstraintsDifferentLink ( )
inlineprotected

Test position constraints a link that is not the end-effector.

Definition at line 166 of file test_ompl_constraints.cpp.

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◆ SetUp()

void TestOMPLConstraints::SetUp ( )
inlineoverrideprotected

Definition at line 114 of file test_ompl_constraints.cpp.

◆ TearDown()

void TestOMPLConstraints::TearDown ( )
inlineoverrideprotected

Definition at line 118 of file test_ompl_constraints.cpp.

◆ testEqualityPositionConstraints()

void TestOMPLConstraints::testEqualityPositionConstraints ( )
inlineprotected

Definition at line 266 of file test_ompl_constraints.cpp.

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◆ testJacobian()

void TestOMPLConstraints::testJacobian ( )
inlineprotected

Definition at line 201 of file test_ompl_constraints.cpp.

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◆ testOMPLProjectedStateSpaceConstruction()

void TestOMPLConstraints::testOMPLProjectedStateSpaceConstruction ( )
inlineprotected

Definition at line 224 of file test_ompl_constraints.cpp.

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Member Data Documentation

◆ constraint_

std::shared_ptr<ompl_interface::BaseConstraint> TestOMPLConstraints::constraint_
protected

Definition at line 301 of file test_ompl_constraints.cpp.


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