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The MoveIt Motion Planning Framework for ROS 2.
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pilz_industrial_motion_planner_testutils::TestdataLoader Class Referenceabstract

Abstract base class describing the interface to access test data like robot poses and robot commands. More...

#include <testdata_loader.h>

Inheritance diagram for pilz_industrial_motion_planner_testutils::TestdataLoader:
Inheritance graph
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Public Member Functions

 TestdataLoader ()=default
 
 TestdataLoader (moveit::core::RobotModelConstPtr robot_model)
 
 TestdataLoader (const TestdataLoader &)=default
 
 TestdataLoader (TestdataLoader &&)=default
 
TestdataLoader & operator= (const TestdataLoader &)=default
 
TestdataLoader & operator= (TestdataLoader &&)=default
 
virtual ~TestdataLoader ()=default
 
void setRobotModel (moveit::core::RobotModelConstPtr robot_model)
 
virtual JointConfiguration getJoints (const std::string &pos_name, const std::string &group_name) const =0
 
virtual CartesianConfiguration getPose (const std::string &pos_name, const std::string &group_name) const =0
 
virtual PtpJoint getPtpJoint (const std::string &cmd_name) const =0
 Returns the command with the specified name from the test data. More...
 
virtual PtpCart getPtpCart (const std::string &cmd_name) const =0
 
virtual PtpJointCart getPtpJointCart (const std::string &cmd_name) const =0
 
virtual LinJoint getLinJoint (const std::string &cmd_name) const =0
 Returns the command with the specified name from the test data. More...
 
virtual LinCart getLinCart (const std::string &cmd_name) const =0
 
virtual LinJointCart getLinJointCart (const std::string &cmd_name) const =0
 
virtual CircCenterCart getCircCartCenterCart (const std::string &cmd_name) const =0
 Returns the command with the specified name from the test data. More...
 
virtual CircJointCenterCart getCircJointCenterCart (const std::string &cmd_name) const =0
 
virtual CircInterimCart getCircCartInterimCart (const std::string &cmd_name) const =0
 
virtual CircJointInterimCart getCircJointInterimCart (const std::string &cmd_name) const =0
 
virtual Sequence getSequence (const std::string &cmd_name) const =0
 Returns the command with the specified name from the test data. More...
 
virtual Gripper getGripper (const std::string &cmd_name) const =0
 Returns the command with the specified name from the test data. More...
 

Protected Attributes

moveit::core::RobotModelConstPtr robot_model_
 

Detailed Description

Abstract base class describing the interface to access test data like robot poses and robot commands.

Definition at line 54 of file testdata_loader.h.

Constructor & Destructor Documentation

◆ TestdataLoader() [1/4]

pilz_industrial_motion_planner_testutils::TestdataLoader::TestdataLoader ( )
default

◆ TestdataLoader() [2/4]

pilz_industrial_motion_planner_testutils::TestdataLoader::TestdataLoader ( moveit::core::RobotModelConstPtr  robot_model)
inline

Definition at line 59 of file testdata_loader.h.

◆ TestdataLoader() [3/4]

pilz_industrial_motion_planner_testutils::TestdataLoader::TestdataLoader ( const TestdataLoader &  )
default

◆ TestdataLoader() [4/4]

pilz_industrial_motion_planner_testutils::TestdataLoader::TestdataLoader ( TestdataLoader &&  )
default

◆ ~TestdataLoader()

virtual pilz_industrial_motion_planner_testutils::TestdataLoader::~TestdataLoader ( )
virtualdefault

Member Function Documentation

◆ getCircCartCenterCart()

virtual CircCenterCart pilz_industrial_motion_planner_testutils::TestdataLoader::getCircCartCenterCart ( const std::string &  cmd_name) const
pure virtual

Returns the command with the specified name from the test data.

Implemented in pilz_industrial_motion_planner_testutils::XmlTestdataLoader.

◆ getCircCartInterimCart()

virtual CircInterimCart pilz_industrial_motion_planner_testutils::TestdataLoader::getCircCartInterimCart ( const std::string &  cmd_name) const
pure virtual

Implemented in pilz_industrial_motion_planner_testutils::XmlTestdataLoader.

◆ getCircJointCenterCart()

virtual CircJointCenterCart pilz_industrial_motion_planner_testutils::TestdataLoader::getCircJointCenterCart ( const std::string &  cmd_name) const
pure virtual

Implemented in pilz_industrial_motion_planner_testutils::XmlTestdataLoader.

◆ getCircJointInterimCart()

virtual CircJointInterimCart pilz_industrial_motion_planner_testutils::TestdataLoader::getCircJointInterimCart ( const std::string &  cmd_name) const
pure virtual

Implemented in pilz_industrial_motion_planner_testutils::XmlTestdataLoader.

◆ getGripper()

virtual Gripper pilz_industrial_motion_planner_testutils::TestdataLoader::getGripper ( const std::string &  cmd_name) const
pure virtual

Returns the command with the specified name from the test data.

Implemented in pilz_industrial_motion_planner_testutils::XmlTestdataLoader.

◆ getJoints()

virtual JointConfiguration pilz_industrial_motion_planner_testutils::TestdataLoader::getJoints ( const std::string &  pos_name,
const std::string &  group_name 
) const
pure virtual

Implemented in pilz_industrial_motion_planner_testutils::XmlTestdataLoader.

◆ getLinCart()

virtual LinCart pilz_industrial_motion_planner_testutils::TestdataLoader::getLinCart ( const std::string &  cmd_name) const
pure virtual

Implemented in pilz_industrial_motion_planner_testutils::XmlTestdataLoader.

◆ getLinJoint()

virtual LinJoint pilz_industrial_motion_planner_testutils::TestdataLoader::getLinJoint ( const std::string &  cmd_name) const
pure virtual

Returns the command with the specified name from the test data.

Implemented in pilz_industrial_motion_planner_testutils::XmlTestdataLoader.

◆ getLinJointCart()

virtual LinJointCart pilz_industrial_motion_planner_testutils::TestdataLoader::getLinJointCart ( const std::string &  cmd_name) const
pure virtual

Implemented in pilz_industrial_motion_planner_testutils::XmlTestdataLoader.

◆ getPose()

virtual CartesianConfiguration pilz_industrial_motion_planner_testutils::TestdataLoader::getPose ( const std::string &  pos_name,
const std::string &  group_name 
) const
pure virtual

Implemented in pilz_industrial_motion_planner_testutils::XmlTestdataLoader.

◆ getPtpCart()

virtual PtpCart pilz_industrial_motion_planner_testutils::TestdataLoader::getPtpCart ( const std::string &  cmd_name) const
pure virtual

Implemented in pilz_industrial_motion_planner_testutils::XmlTestdataLoader.

◆ getPtpJoint()

virtual PtpJoint pilz_industrial_motion_planner_testutils::TestdataLoader::getPtpJoint ( const std::string &  cmd_name) const
pure virtual

Returns the command with the specified name from the test data.

Implemented in pilz_industrial_motion_planner_testutils::XmlTestdataLoader.

◆ getPtpJointCart()

virtual PtpJointCart pilz_industrial_motion_planner_testutils::TestdataLoader::getPtpJointCart ( const std::string &  cmd_name) const
pure virtual

Implemented in pilz_industrial_motion_planner_testutils::XmlTestdataLoader.

◆ getSequence()

virtual Sequence pilz_industrial_motion_planner_testutils::TestdataLoader::getSequence ( const std::string &  cmd_name) const
pure virtual

Returns the command with the specified name from the test data.

Implemented in pilz_industrial_motion_planner_testutils::XmlTestdataLoader.

◆ operator=() [1/2]

TestdataLoader& pilz_industrial_motion_planner_testutils::TestdataLoader::operator= ( const TestdataLoader &  )
default

◆ operator=() [2/2]

TestdataLoader& pilz_industrial_motion_planner_testutils::TestdataLoader::operator= ( TestdataLoader &&  )
default

◆ setRobotModel()

void pilz_industrial_motion_planner_testutils::TestdataLoader::setRobotModel ( moveit::core::RobotModelConstPtr  robot_model)
inline

Definition at line 112 of file testdata_loader.h.

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Member Data Documentation

◆ robot_model_

moveit::core::RobotModelConstPtr pilz_industrial_motion_planner_testutils::TestdataLoader::robot_model_
protected

Definition at line 109 of file testdata_loader.h.

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