TrajectoryGeneratorPTPTest Class Reference

Inheritance diagram for TrajectoryGeneratorPTPTest:

Collaboration diagram for TrajectoryGeneratorPTPTest:

Protected Member Functions
void	SetUp () override
	Create test fixture for ptp trajectory generator.
void	TearDown () override
bool	checkTrajectory (const trajectory_msgs::msg::JointTrajectory &trajectory, const planning_interface::MotionPlanRequest &req, const JointLimitsContainer &joint_limits)
	check the resulted joint trajectory

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< TrajectoryGenerator >	ptp_
LimitsContainer	planner_limits_
std::string	planning_group_
std::string	target_link_
double	joint_position_tolerance_
double	joint_velocity_tolerance_
double	joint_acceleration_tolerance_
double	pose_norm_tolerance_

Detailed Description

Definition at line 60 of file unittest_trajectory_generator_ptp.cpp.

Member Function Documentation

checkTrajectory()

bool TrajectoryGeneratorPTPTest::checkTrajectory ( const trajectory_msgs::msg::JointTrajectory &  trajectory, const planning_interface::MotionPlanRequest &  req, const JointLimitsContainer &  joint_limits  )

inlineprotected

check the resulted joint trajectory

Parameters

trajectory
req
joint_limits

Returns

Definition at line 133 of file unittest_trajectory_generator_ptp.cpp.

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SetUp()

void TrajectoryGeneratorPTPTest::SetUp ( )

inlineoverrideprotected

Create test fixture for ptp trajectory generator.

Definition at line 67 of file unittest_trajectory_generator_ptp.cpp.

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TearDown()

void TrajectoryGeneratorPTPTest::TearDown ( )

inlineoverrideprotected

Definition at line 121 of file unittest_trajectory_generator_ptp.cpp.

Member Data Documentation

joint_acceleration_tolerance_

double TrajectoryGeneratorPTPTest::joint_acceleration_tolerance_

protected

Definition at line 157 of file unittest_trajectory_generator_ptp.cpp.

joint_position_tolerance_

double TrajectoryGeneratorPTPTest::joint_position_tolerance_

protected

Definition at line 157 of file unittest_trajectory_generator_ptp.cpp.

joint_velocity_tolerance_

double TrajectoryGeneratorPTPTest::joint_velocity_tolerance_

protected

Definition at line 157 of file unittest_trajectory_generator_ptp.cpp.

node_

rclcpp::Node::SharedPtr TrajectoryGeneratorPTPTest::node_

protected

Definition at line 146 of file unittest_trajectory_generator_ptp.cpp.

planner_limits_

LimitsContainer TrajectoryGeneratorPTPTest::planner_limits_

protected

Definition at line 155 of file unittest_trajectory_generator_ptp.cpp.

planning_group_

std::string TrajectoryGeneratorPTPTest::planning_group_

protected

Definition at line 156 of file unittest_trajectory_generator_ptp.cpp.

planning_scene_

planning_scene::PlanningSceneConstPtr TrajectoryGeneratorPTPTest::planning_scene_

protected

Definition at line 149 of file unittest_trajectory_generator_ptp.cpp.

pose_norm_tolerance_

double TrajectoryGeneratorPTPTest::pose_norm_tolerance_

protected

Definition at line 157 of file unittest_trajectory_generator_ptp.cpp.

ptp_

std::unique_ptr<TrajectoryGenerator> TrajectoryGeneratorPTPTest::ptp_

protected

Definition at line 152 of file unittest_trajectory_generator_ptp.cpp.

rm_loader_

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

protected

Definition at line 148 of file unittest_trajectory_generator_ptp.cpp.

robot_model_

moveit::core::RobotModelConstPtr TrajectoryGeneratorPTPTest::robot_model_

protected

Definition at line 147 of file unittest_trajectory_generator_ptp.cpp.

target_link_

std::string TrajectoryGeneratorPTPTest::target_link_

protected

Definition at line 156 of file unittest_trajectory_generator_ptp.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_ptp.cpp