test fixtures base class More...

Inheritance diagram for TrajectoryFunctionsTestBase:

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Collaboration diagram for TrajectoryFunctionsTestBase:

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

void	TearDown () override

bool	tfNear (const Eigen::Isometry3d &pose1, const Eigen::Isometry3d &pose2, double epsilon)
	check if two transformations are close

bool	jointsNear (const std::vector< double > &joints1, const std::vector< double > &joints2, double epsilon)
	check if two sets of joint positions are close

std::vector< double >	getJoints (const moveit::core::JointModelGroup *jmg, const moveit::core::RobotState &state)
	get the current joint values of the robot state

void	attachToLink (moveit::core::RobotState &state, const moveit::core::LinkModel *link, const std::string &object_name, const Eigen::Isometry3d &object_pose, const moveit::core::FixedTransformsMap &subframes)
	attach a collision object and subframes to a link

Protected Attributes
rclcpp::Node::SharedPtr	node_

moveit::core::RobotModelConstPtr	robot_model_

moveit::core::RobotStatePtr	robot_state_

std::unique_ptr< robot_model_loader::RobotModelLoader >	rm_loader_

planning_scene::PlanningSceneConstPtr	planning_scene_

std::string	planning_group_

std::string	group_tip_link_

std::string	tcp_link_

std::string	ik_fast_link_

int	random_test_number_

std::vector< std::string >	joint_names_

std::map< std::string, double >	zero_state_

uint32_t	random_seed_ { 100 }

random_numbers::RandomNumberGenerator	rng_ { random_seed_ }

Detailed Description

test fixtures base class

Member Function Documentation

void TrajectoryFunctionsTestBase::attachToLink	(	moveit::core::RobotState &	state,
		const moveit::core::LinkModel *	link,
		const std::string &	object_name,
		const Eigen::Isometry3d &	object_pose,
		const moveit::core::FixedTransformsMap &	subframes
	)

protected

attach a collision object and subframes to a link

Parameters

state	the state we are updating
link	the link we are attaching the collision object to
object_name	a unique name for the collision object
object_pose	the pose of the object relative to the parent link
subframes	subframe names and poses relative to the object they attach to

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std::vector< double > TrajectoryFunctionsTestBase::getJoints	(	const moveit::core::JointModelGroup *	jmg,
		const moveit::core::RobotState &	state
	)

protected

get the current joint values of the robot state

Parameters

jmg	the joint model group whose joints we are interested in
state	the robot state to fetch the current joint positions for

Returns: the joint positions for joints from jmg, set to the positions determined from state

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bool TrajectoryFunctionsTestBase::jointsNear	(	const std::vector< double > &	joints1,
		const std::vector< double > &	joints2,
		double	epsilon
	)

protected

check if two sets of joint positions are close

Parameters

joints1	the first set of joint positions to compare
joints2	the second set of joint positions to compare
epsilon	the tolerance a all joint position diffs must satisfy