TestThreadSafeStateStorage Class Reference

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

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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.

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::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 46 of file test_threadsafe_state_storage.cpp.

Constructor & Destructor Documentation

TestThreadSafeStateStorage()

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

inline

Definition at line 49 of file test_threadsafe_state_storage.cpp.

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Member Function Documentation

SetUp()

void TestThreadSafeStateStorage::SetUp ( )

inlineoverrideprotected

Definition at line 78 of file test_threadsafe_state_storage.cpp.

testReadback()

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

inline

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:

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