moveit2: TrajectoryBlenderTransitionWindowTest Class Reference

moveit2

The MoveIt Motion Planning Framework for ROS 2.

Inheritance diagram for TrajectoryBlenderTransitionWindowTest:

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Protected Member Functions
void	SetUp () override
	Create test scenario for trajectory blender. More...

void	TearDown () override

std::vector< planning_interface::MotionPlanResponse >	generateLinTrajs (const Sequence &seq, size_t num_cmds)
	Generate lin trajectories for blend sequences. More...

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.

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◆ SetUp()

void TrajectoryBlenderTransitionWindowTest::SetUp ( )

inlineoverrideprotected

Create test scenario for trajectory blender.

Definition at line 70 of file unittest_trajectory_blender_transition_window.cpp.

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◆ 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