moveit2: TrajectoryGeneratorCIRCTest Class Reference

moveit2

The MoveIt Motion Planning Framework for ROS 2.

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Inheritance diagram for TrajectoryGeneratorCIRCTest:

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Collaboration diagram for TrajectoryGeneratorCIRCTest:

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

void	checkCircResult (const planning_interface::MotionPlanRequest &req, const planning_interface::MotionPlanResponse &res)

void	TearDown () override

void	getCircCenter (const planning_interface::MotionPlanRequest &req, const planning_interface::MotionPlanResponse &res, Eigen::Vector3d &circ_center)

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< TrajectoryGeneratorCIRC >	circ_

std::unique_ptr< pilz_industrial_motion_planner_testutils::TestdataLoader >	tdp_

std::string	planning_group_

std::string	target_link_

std::string	test_data_file_name_

int	random_trial_num_

double	cartesian_position_tolerance_

double	angular_acc_tolerance_

double	rot_axis_norm_tolerance_

double	acceleration_tolerance_

double	other_tolerance_

LimitsContainer	planner_limits_

Detailed Description

Definition at line 59 of file unittest_trajectory_generator_circ.cpp.

Member Function Documentation

◆ checkCircResult()

void TrajectoryGeneratorCIRCTest::checkCircResult	(	const planning_interface::MotionPlanRequest &	req,
		const planning_interface::MotionPlanResponse &	res
	)

inlineprotected

Definition at line 126 of file unittest_trajectory_generator_circ.cpp.

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◆ getCircCenter()

void TrajectoryGeneratorCIRCTest::getCircCenter	(	const planning_interface::MotionPlanRequest &	req,
		const planning_interface::MotionPlanResponse &	res,
		Eigen::Vector3d &	circ_center
	)

inlineprotected

Definition at line 169 of file unittest_trajectory_generator_circ.cpp.

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◆ SetUp()

void TrajectoryGeneratorCIRCTest::SetUp ( )

inlineoverrideprotected

Create test scenario for circ trajectory generator.

Definition at line 66 of file unittest_trajectory_generator_circ.cpp.

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◆ TearDown()

void TrajectoryGeneratorCIRCTest::TearDown ( )

inlineoverrideprotected

Definition at line 164 of file unittest_trajectory_generator_circ.cpp.

Member Data Documentation

◆ acceleration_tolerance_

double TrajectoryGeneratorCIRCTest::acceleration_tolerance_

protected

Definition at line 211 of file unittest_trajectory_generator_circ.cpp.

◆ angular_acc_tolerance_

double TrajectoryGeneratorCIRCTest::angular_acc_tolerance_

protected

Definition at line 211 of file unittest_trajectory_generator_circ.cpp.

◆ cartesian_position_tolerance_

double TrajectoryGeneratorCIRCTest::cartesian_position_tolerance_

protected

Definition at line 211 of file unittest_trajectory_generator_circ.cpp.

◆ circ_

std::unique_ptr<TrajectoryGeneratorCIRC> TrajectoryGeneratorCIRCTest::circ_

protected

Definition at line 204 of file unittest_trajectory_generator_circ.cpp.

◆ node_

rclcpp::Node::SharedPtr TrajectoryGeneratorCIRCTest::node_

protected

Definition at line 199 of file unittest_trajectory_generator_circ.cpp.

◆ other_tolerance_

double TrajectoryGeneratorCIRCTest::other_tolerance_

protected

Definition at line 212 of file unittest_trajectory_generator_circ.cpp.

◆ planner_limits_

LimitsContainer TrajectoryGeneratorCIRCTest::planner_limits_

protected

Definition at line 213 of file unittest_trajectory_generator_circ.cpp.

◆ planning_group_

std::string TrajectoryGeneratorCIRCTest::planning_group_

protected

Definition at line 209 of file unittest_trajectory_generator_circ.cpp.

◆ planning_scene_

planning_scene::PlanningSceneConstPtr TrajectoryGeneratorCIRCTest::planning_scene_

protected

Definition at line 202 of file unittest_trajectory_generator_circ.cpp.

◆ random_trial_num_

int TrajectoryGeneratorCIRCTest::random_trial_num_

protected

Definition at line 210 of file unittest_trajectory_generator_circ.cpp.

◆ rm_loader_

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

protected

Definition at line 201 of file unittest_trajectory_generator_circ.cpp.

◆ robot_model_

moveit::core::RobotModelConstPtr TrajectoryGeneratorCIRCTest::robot_model_

protected

Definition at line 200 of file unittest_trajectory_generator_circ.cpp.

◆ rot_axis_norm_tolerance_

double TrajectoryGeneratorCIRCTest::rot_axis_norm_tolerance_

protected

Definition at line 211 of file unittest_trajectory_generator_circ.cpp.

◆ target_link_

std::string TrajectoryGeneratorCIRCTest::target_link_

protected

Definition at line 209 of file unittest_trajectory_generator_circ.cpp.

◆ tdp_

std::unique_ptr<pilz_industrial_motion_planner_testutils::TestdataLoader> TrajectoryGeneratorCIRCTest::tdp_

protected

Definition at line 206 of file unittest_trajectory_generator_circ.cpp.

◆ test_data_file_name_

std::string TrajectoryGeneratorCIRCTest::test_data_file_name_

protected

Definition at line 209 of file unittest_trajectory_generator_circ.cpp.

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

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