moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Protected Member Functions | Protected Attributes | List of all members
TrajectoryGeneratorPTPTest Class Reference
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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::RobotModelLoaderrm_loader_
 
planning_scene::PlanningSceneConstPtr planning_scene_
 
std::unique_ptr< TrajectoryGeneratorptp_
 
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.


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