TrajectoryGeneratorCIRCTest Class Reference

Inheritance diagram for TrajectoryGeneratorCIRCTest:

Collaboration diagram for TrajectoryGeneratorCIRCTest:

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.

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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