The MoveIt Motion Planning Framework for ROS 2.
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TestThreadSafeStateStorage Class Reference

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

Inheritance diagram for TestThreadSafeStateStorage:
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Collaboration diagram for TestThreadSafeStateStorage:
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Public Member Functions

 TestThreadSafeStateStorage (const std::string &robot_name, const std::string &group_name)
void testReadback (const std::vector< double > &position_in_limits)

Protected Member Functions

void SetUp () override
- 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...

Additional Inherited Members

- 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

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

Definition at line 46 of file test_threadsafe_state_storage.cpp.

Constructor & Destructor Documentation

◆ TestThreadSafeStateStorage()

TestThreadSafeStateStorage::TestThreadSafeStateStorage ( const std::string &  robot_name,
const std::string &  group_name 

Definition at line 49 of file test_threadsafe_state_storage.cpp.

Member Function Documentation

◆ SetUp()

void TestThreadSafeStateStorage::SetUp ( )

Definition at line 78 of file test_threadsafe_state_storage.cpp.

◆ testReadback()

void TestThreadSafeStateStorage::testReadback ( const std::vector< double > &  position_in_limits)

This test if a state is correctly set in TSStateStorage. State is read back and compared with the original state

Definition at line 55 of file test_threadsafe_state_storage.cpp.

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