Generic implementation of the tests that can be executed on different robots. More...

Inheritance diagram for TestStateValidityChecker:

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Public Member Functions
	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 Member Functions
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.

Protected Attributes
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

Generic implementation of the tests that can be executed on different robots.

Definition at line 88 of file test_constrained_state_validity_checker.cpp.

Constructor & Destructor Documentation

◆ TestStateValidityChecker() [1/2]

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

inline

Definition at line 91 of file test_constrained_state_validity_checker.cpp.

◆ TestStateValidityChecker() [2/2]

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

inline

Definition at line 88 of file test_state_validity_checker.cpp.

Member Function Documentation

◆ createPositionConstraint()

moveit_msgs::msg::PositionConstraint TestStateValidityChecker::createPositionConstraint	(	std::array< double, 3 >	position,
		std::array< double, 3 >	dimensions
	)

inlineprotected

Helper function to create a position constraint.

Definition at line 231 of file test_state_validity_checker.cpp.

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◆ SetUp() [1/2]

void TestStateValidityChecker::SetUp ( )

inlineoverrideprotected

Definition at line 200 of file test_constrained_state_validity_checker.cpp.

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◆ SetUp() [2/2]

void TestStateValidityChecker::SetUp ( )

inlineoverrideprotected

Definition at line 200 of file test_state_validity_checker.cpp.

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◆ setupPlanningContext() [1/2]

void TestStateValidityChecker::setupPlanningContext ( )

inlineprotected

Definition at line 222 of file test_constrained_state_validity_checker.cpp.

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◆ setupPlanningContext() [2/2]

void TestStateValidityChecker::setupPlanningContext ( )

inlineprotected

Definition at line 214 of file test_state_validity_checker.cpp.

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◆ setupStateSpace() [1/2]

void TestStateValidityChecker::setupStateSpace ( )

inlineprotected

Definition at line 211 of file test_constrained_state_validity_checker.cpp.

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◆ setupStateSpace() [2/2]

void TestStateValidityChecker::setupStateSpace ( )

inlineprotected

Definition at line 207 of file test_state_validity_checker.cpp.

◆ TearDown()

void TestStateValidityChecker::TearDown ( )

inlineoverrideprotected

Definition at line 207 of file test_constrained_state_validity_checker.cpp.

◆ testConstructor() [1/2]

void TestStateValidityChecker::testConstructor ( )

inline

Definition at line 98 of file test_constrained_state_validity_checker.cpp.

◆ testConstructor() [2/2]

void TestStateValidityChecker::testConstructor ( )

inline

Definition at line 93 of file test_state_validity_checker.cpp.

◆ testJointLimits() [1/2]

void TestStateValidityChecker::testJointLimits ( const std::vector< double > & position_in_limits )

inline

Definition at line 104 of file test_constrained_state_validity_checker.cpp.

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◆ testJointLimits() [2/2]

void TestStateValidityChecker::testJointLimits ( const std::vector< double > & position_in_limits )

inline

This test takes a state that is inside the joint limits and collision free as input.

Definition at line 100 of file test_state_validity_checker.cpp.

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◆ testPathConstraints()

void TestStateValidityChecker::testPathConstraints ( const std::vector< double > & position_in_joint_limits )

inline

Definition at line 155 of file test_state_validity_checker.cpp.

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◆ testSelfCollision() [1/2]

void TestStateValidityChecker::testSelfCollision ( const std::vector< double > & position_in_self_collision )

inline

Definition at line 156 of file test_constrained_state_validity_checker.cpp.

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◆ testSelfCollision() [2/2]

void TestStateValidityChecker::testSelfCollision ( const std::vector< double > & position_in_self_collision )

inline

This test takes a state that is known to be in self-collision and inside the joint limits as input.

Definition at line 131 of file test_state_validity_checker.cpp.

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Member Data Documentation

◆ constrained_state_space_

ompl::base::ConstrainedStateSpacePtr TestStateValidityChecker::constrained_state_space_

protected

Definition at line 255 of file test_constrained_state_validity_checker.cpp.

◆ initial_robot_state_

moveit::core::RobotStatePtr TestStateValidityChecker::initial_robot_state_

protected

Definition at line 248 of file test_constrained_state_validity_checker.cpp.

◆ planning_context_

ompl_interface::ModelBasedPlanningContextPtr TestStateValidityChecker::planning_context_

protected

Definition at line 252 of file test_constrained_state_validity_checker.cpp.

◆ planning_context_spec_

ompl_interface::ModelBasedPlanningContextSpecification TestStateValidityChecker::planning_context_spec_

protected

Definition at line 251 of file test_constrained_state_validity_checker.cpp.

◆ planning_scene_

planning_scene::PlanningScenePtr TestStateValidityChecker::planning_scene_

protected

Definition at line 253 of file test_constrained_state_validity_checker.cpp.

◆ state_space_

ompl_interface::ModelBasedStateSpacePtr TestStateValidityChecker::state_space_

protected

Definition at line 250 of file test_constrained_state_validity_checker.cpp.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TestStateValidityChecker() [1/2]

◆ TestStateValidityChecker() [2/2]

Member Function Documentation

◆ createPositionConstraint()

◆ SetUp() [1/2]

◆ SetUp() [2/2]

◆ setupPlanningContext() [1/2]

◆ setupPlanningContext() [2/2]

◆ setupStateSpace() [1/2]

◆ setupStateSpace() [2/2]

◆ TearDown()

◆ testConstructor() [1/2]

◆ testConstructor() [2/2]

◆ testJointLimits() [1/2]

◆ testJointLimits() [2/2]

◆ testPathConstraints()

◆ testSelfCollision() [1/2]

◆ testSelfCollision() [2/2]

Member Data Documentation

◆ constrained_state_space_

◆ initial_robot_state_

◆ planning_context_

◆ planning_context_spec_

◆ planning_scene_

◆ state_space_