TestOMPLConstraints Class Reference

Inheritance diagram for TestOMPLConstraints:

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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.
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.
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.

Protected Attributes
std::shared_ptr< ompl_interface::BaseConstraint >	constraint_
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 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.

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

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