TrajectoryBlenderTransitionWindowTest Class Reference

Inheritance diagram for TrajectoryBlenderTransitionWindowTest:

Collaboration diagram for TrajectoryBlenderTransitionWindowTest:

Protected Member Functions
void	SetUp () override
	Create test scenario for trajectory blender.
void	TearDown () override
std::vector< planning_interface::MotionPlanResponse >	generateLinTrajs (const Sequence &seq, size_t num_cmds)
	Generate lin trajectories for blend sequences.

Protected Attributes
rclcpp::Node::SharedPtr	node_
moveit::core::RobotModelConstPtr	robot_model_
std::unique_ptr< robot_model_loader::RobotModelLoader >	rm_loader_
planning_scene::PlanningSceneConstPtr	planning_scene_
std::unique_ptr< TrajectoryGenerator >	lin_generator_
std::unique_ptr< TrajectoryBlenderTransitionWindow >	blender_
std::string	planning_group_
std::string	target_link_
double	cartesian_velocity_tolerance_
double	cartesian_angular_velocity_tolerance_
double	joint_velocity_tolerance_
double	joint_acceleration_tolerance_
double	sampling_time_
LimitsContainer	planner_limits_
std::string	test_data_file_name_
XmlTestDataLoaderUPtr	data_loader_

Detailed Description

Definition at line 63 of file unittest_trajectory_blender_transition_window.cpp.

Member Function Documentation

generateLinTrajs()

std::vector< planning_interface::MotionPlanResponse > TrajectoryBlenderTransitionWindowTest::generateLinTrajs ( const Sequence &  seq, size_t  num_cmds  )

inlineprotected

Generate lin trajectories for blend sequences.

Definition at line 136 of file unittest_trajectory_blender_transition_window.cpp.

Here is the call graph for this function:

SetUp()

void TrajectoryBlenderTransitionWindowTest::SetUp ( )

inlineoverrideprotected

Create test scenario for trajectory blender.

Definition at line 70 of file unittest_trajectory_blender_transition_window.cpp.

Here is the call graph for this function:

TearDown()

void TrajectoryBlenderTransitionWindowTest::TearDown ( )

inlineoverrideprotected

Definition at line 128 of file unittest_trajectory_blender_transition_window.cpp.

Member Data Documentation

blender_

std::unique_ptr<TrajectoryBlenderTransitionWindow> TrajectoryBlenderTransitionWindowTest::blender_

protected

Definition at line 168 of file unittest_trajectory_blender_transition_window.cpp.

cartesian_angular_velocity_tolerance_

double TrajectoryBlenderTransitionWindowTest::cartesian_angular_velocity_tolerance_

protected

Definition at line 172 of file unittest_trajectory_blender_transition_window.cpp.

cartesian_velocity_tolerance_

double TrajectoryBlenderTransitionWindowTest::cartesian_velocity_tolerance_

protected

Definition at line 172 of file unittest_trajectory_blender_transition_window.cpp.

data_loader_

XmlTestDataLoaderUPtr TrajectoryBlenderTransitionWindowTest::data_loader_

protected

Definition at line 177 of file unittest_trajectory_blender_transition_window.cpp.

joint_acceleration_tolerance_

double TrajectoryBlenderTransitionWindowTest::joint_acceleration_tolerance_

protected

Definition at line 173 of file unittest_trajectory_blender_transition_window.cpp.

joint_velocity_tolerance_

double TrajectoryBlenderTransitionWindowTest::joint_velocity_tolerance_

protected

Definition at line 172 of file unittest_trajectory_blender_transition_window.cpp.

lin_generator_

std::unique_ptr<TrajectoryGenerator> TrajectoryBlenderTransitionWindowTest::lin_generator_

protected

Definition at line 167 of file unittest_trajectory_blender_transition_window.cpp.

node_

rclcpp::Node::SharedPtr TrajectoryBlenderTransitionWindowTest::node_

protected

Definition at line 162 of file unittest_trajectory_blender_transition_window.cpp.

planner_limits_

LimitsContainer TrajectoryBlenderTransitionWindowTest::planner_limits_

protected

Definition at line 174 of file unittest_trajectory_blender_transition_window.cpp.

planning_group_

std::string TrajectoryBlenderTransitionWindowTest::planning_group_

protected

Definition at line 171 of file unittest_trajectory_blender_transition_window.cpp.

planning_scene_

planning_scene::PlanningSceneConstPtr TrajectoryBlenderTransitionWindowTest::planning_scene_

protected

Definition at line 165 of file unittest_trajectory_blender_transition_window.cpp.

rm_loader_

std::unique_ptr<robot_model_loader::RobotModelLoader> TrajectoryBlenderTransitionWindowTest::rm_loader_

protected

Definition at line 164 of file unittest_trajectory_blender_transition_window.cpp.

robot_model_

moveit::core::RobotModelConstPtr TrajectoryBlenderTransitionWindowTest::robot_model_

protected

Definition at line 163 of file unittest_trajectory_blender_transition_window.cpp.

sampling_time_

double TrajectoryBlenderTransitionWindowTest::sampling_time_

protected

Definition at line 173 of file unittest_trajectory_blender_transition_window.cpp.

target_link_

std::string TrajectoryBlenderTransitionWindowTest::target_link_

protected

Definition at line 171 of file unittest_trajectory_blender_transition_window.cpp.

test_data_file_name_

std::string TrajectoryBlenderTransitionWindowTest::test_data_file_name_

protected

Definition at line 176 of file unittest_trajectory_blender_transition_window.cpp.

---

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

• moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_blender_transition_window.cpp