Parametrized class for tests with and without gripper. More...

Inheritance diagram for TrajectoryFunctionsTestFlangeAndGripper:

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Collaboration diagram for TrajectoryFunctionsTestFlangeAndGripper:

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Additional Inherited Members
Protected Member Functions inherited from TrajectoryFunctionsTestBase
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 inherited from TrajectoryFunctionsTestBase
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

Parametrized class for tests with and without gripper.

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

moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_functions.cpp

Additional Inherited Members