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The MoveIt Motion Planning Framework for ROS 2.
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Protected Member Functions | Protected Attributes | List of all members
TrajectoryGeneratorLINTest Class Reference

Parameterized unittest of trajectory generator LIN to enable tests against different robot models.The parameter is the name of robot model parameter on the ros parameter server. More...

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Protected Member Functions

void SetUp () override
 Create test scenario for lin trajectory generator.
 
void TearDown () override
 
bool checkLinResponse (const planning_interface::MotionPlanRequest &req, const planning_interface::MotionPlanResponse &res)
 

Protected Attributes

rclcpp::Node::SharedPtr node_
 
moveit::core::RobotModelConstPtr robot_model_
 
std::unique_ptr< robot_model_loader::RobotModelLoaderrm_loader_
 
planning_scene::PlanningSceneConstPtr planning_scene_
 
std::unique_ptr< TrajectoryGeneratorlin_
 
std::unique_ptr< pilz_industrial_motion_planner_testutils::TestdataLoadertdp_
 
std::string planning_group_
 
std::string target_link_hcd_
 
std::string test_data_file_name_
 
int random_trial_num_
 
double joint_position_tolerance_
 
double joint_velocity_tolerance_
 
double pose_norm_tolerance_
 
double rot_axis_norm_tolerance_
 
double velocity_scaling_factor_
 
double other_tolerance_
 
LimitsContainer planner_limits_
 

Detailed Description

Parameterized unittest of trajectory generator LIN to enable tests against different robot models.The parameter is the name of robot model parameter on the ros parameter server.

Definition at line 77 of file unittest_trajectory_generator_lin.cpp.

Member Function Documentation

◆ checkLinResponse()

bool TrajectoryGeneratorLINTest::checkLinResponse ( const planning_interface::MotionPlanRequest req,
const planning_interface::MotionPlanResponse res 
)
inlineprotected

Definition at line 141 of file unittest_trajectory_generator_lin.cpp.

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◆ SetUp()

void TrajectoryGeneratorLINTest::SetUp ( )
inlineoverrideprotected

Create test scenario for lin trajectory generator.

Definition at line 84 of file unittest_trajectory_generator_lin.cpp.

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◆ TearDown()

void TrajectoryGeneratorLINTest::TearDown ( )
inlineoverrideprotected

Definition at line 136 of file unittest_trajectory_generator_lin.cpp.

Member Data Documentation

◆ joint_position_tolerance_

double TrajectoryGeneratorLINTest::joint_position_tolerance_
protected

Definition at line 180 of file unittest_trajectory_generator_lin.cpp.

◆ joint_velocity_tolerance_

double TrajectoryGeneratorLINTest::joint_velocity_tolerance_
protected

Definition at line 180 of file unittest_trajectory_generator_lin.cpp.

◆ lin_

std::unique_ptr<TrajectoryGenerator> TrajectoryGeneratorLINTest::lin_
protected

Definition at line 173 of file unittest_trajectory_generator_lin.cpp.

◆ node_

rclcpp::Node::SharedPtr TrajectoryGeneratorLINTest::node_
protected

Definition at line 167 of file unittest_trajectory_generator_lin.cpp.

◆ other_tolerance_

double TrajectoryGeneratorLINTest::other_tolerance_
protected

Definition at line 181 of file unittest_trajectory_generator_lin.cpp.

◆ planner_limits_

LimitsContainer TrajectoryGeneratorLINTest::planner_limits_
protected

Definition at line 182 of file unittest_trajectory_generator_lin.cpp.

◆ planning_group_

std::string TrajectoryGeneratorLINTest::planning_group_
protected

Definition at line 178 of file unittest_trajectory_generator_lin.cpp.

◆ planning_scene_

planning_scene::PlanningSceneConstPtr TrajectoryGeneratorLINTest::planning_scene_
protected

Definition at line 170 of file unittest_trajectory_generator_lin.cpp.

◆ pose_norm_tolerance_

double TrajectoryGeneratorLINTest::pose_norm_tolerance_
protected

Definition at line 180 of file unittest_trajectory_generator_lin.cpp.

◆ random_trial_num_

int TrajectoryGeneratorLINTest::random_trial_num_
protected

Definition at line 179 of file unittest_trajectory_generator_lin.cpp.

◆ rm_loader_

std::unique_ptr<robot_model_loader::RobotModelLoader> TrajectoryGeneratorLINTest::rm_loader_
protected

Definition at line 169 of file unittest_trajectory_generator_lin.cpp.

◆ robot_model_

moveit::core::RobotModelConstPtr TrajectoryGeneratorLINTest::robot_model_
protected

Definition at line 168 of file unittest_trajectory_generator_lin.cpp.

◆ rot_axis_norm_tolerance_

double TrajectoryGeneratorLINTest::rot_axis_norm_tolerance_
protected

Definition at line 180 of file unittest_trajectory_generator_lin.cpp.

◆ target_link_hcd_

std::string TrajectoryGeneratorLINTest::target_link_hcd_
protected

Definition at line 178 of file unittest_trajectory_generator_lin.cpp.

◆ tdp_

std::unique_ptr<pilz_industrial_motion_planner_testutils::TestdataLoader> TrajectoryGeneratorLINTest::tdp_
protected

Definition at line 175 of file unittest_trajectory_generator_lin.cpp.

◆ test_data_file_name_

std::string TrajectoryGeneratorLINTest::test_data_file_name_
protected

Definition at line 178 of file unittest_trajectory_generator_lin.cpp.

◆ velocity_scaling_factor_

double TrajectoryGeneratorLINTest::velocity_scaling_factor_
protected

Definition at line 181 of file unittest_trajectory_generator_lin.cpp.


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