Implements a test data loader which uses a xml file to store the test data. More...

#include <xml_testdata_loader.h>

Inheritance diagram for pilz_industrial_motion_planner_testutils::XmlTestdataLoader:

Collaboration diagram for pilz_industrial_motion_planner_testutils::XmlTestdataLoader:

Classes
class	AbstractCmdGetterAdapter
	Abstract base class providing a GENERIC getter-function signature which can be used to load DIFFERENT command types (like Ptp, Lin, etc.) from the test data file. More...

Public Member Functions
	XmlTestdataLoader (const std::string &path_filename)

	XmlTestdataLoader (const std::string &path_filename, const moveit::core::RobotModelConstPtr &robot_model)

	~XmlTestdataLoader () override

JointConfiguration	getJoints (const std::string &pos_name, const std::string &group_name) const override

CartesianConfiguration	getPose (const std::string &pos_name, const std::string &group_name) const override

PtpJoint	getPtpJoint (const std::string &cmd_name) const override
	Returns the command with the specified name from the test data.

PtpCart	getPtpCart (const std::string &cmd_name) const override

PtpJointCart	getPtpJointCart (const std::string &cmd_name) const override

LinJoint	getLinJoint (const std::string &cmd_name) const override
	Returns the command with the specified name from the test data.

LinCart	getLinCart (const std::string &cmd_name) const override

LinJointCart	getLinJointCart (const std::string &cmd_name) const override

CircCenterCart	getCircCartCenterCart (const std::string &cmd_name) const override
	Returns the command with the specified name from the test data.

CircInterimCart	getCircCartInterimCart (const std::string &cmd_name) const override

CircJointCenterCart	getCircJointCenterCart (const std::string &cmd_name) const override

CircJointInterimCart	getCircJointInterimCart (const std::string &cmd_name) const override

Sequence	getSequence (const std::string &cmd_name) const override
	Returns the command with the specified name from the test data.

Gripper	getGripper (const std::string &cmd_name) const override
	Returns the command with the specified name from the test data.

Public Member Functions inherited from pilz_industrial_motion_planner_testutils::TestdataLoader
	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)

Additional Inherited Members
Protected Attributes inherited from pilz_industrial_motion_planner_testutils::TestdataLoader
moveit::core::RobotModelConstPtr	robot_model_

Detailed Description

Implements a test data loader which uses a xml file to store the test data.

The Xml-file has the following structure:

<poses> <pos name="MyTestPos1"> <joints group_name="manipulator">j1 j2 j3 j4 j5 j6</joints> <xyzQuat group_name="manipulator" link_name="prbt_tcp"> x y z wx wy wz w <seed><joints group_name="manipulator">s1 s2 s3 s4 s5 s6</joints></seed> </xyzQuat> <joints group_name="gripper">j_gripper</joints> </pos>

<pos name="MyTestPos2"> <joints group_name="manipulator">j1 j2 j3 j4 j5 j6</joints> <xyzQuat group_name="manipulator" link_name="prbt_tcp">x y z wx wy wz w</xyzQuat> <joints group_name="gripper">j_gripper</joints> </pos> </poses>

<ptps> <ptp name="MyPtp1"> <startPos>MyTestPos1</startPos> <endPos>MyTestPos2</endPos> <vel>0.1</vel> <acc>0.2</acc> </ptp> </ptps>

<lins> <lin name="MyTestLin1"> <planningGroup>manipulator</planningGroup> <targetLink>prbt_tcp</targetLink> <startPos>MyTestPos1</startPos> <endPos>MyTestPos2</endPos> <vel>0.3</vel> <acc>0.4</acc> </lin> </lins>

<circs> <circ name="MyTestCirc1"> <planningGroup>manipulator</planningGroup> <targetLink>prbt_tcp</targetLink> <startPos>MyTestPos1</startPos> <intermediatePos>MyTestPos1</intermediatePos> <centerPos>MyTestPos2</centerPos> <endPos>MyTestPos1</endPos> <vel>0.2</vel> <acc>0.5</acc> </circ> </circs>

</testdata>

Definition at line 119 of file xml_testdata_loader.h.

Constructor & Destructor Documentation

◆ XmlTestdataLoader() [1/2]

pilz_industrial_motion_planner_testutils::XmlTestdataLoader::XmlTestdataLoader ( const std::string & path_filename )

Definition at line 137 of file xml_testdata_loader.cpp.

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◆ XmlTestdataLoader() [2/2]

pilz_industrial_motion_planner_testutils::XmlTestdataLoader::XmlTestdataLoader	(	const std::string &	path_filename,
		const moveit::core::RobotModelConstPtr &	robot_model
	)

Definition at line 166 of file xml_testdata_loader.cpp.

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◆ ~XmlTestdataLoader()

pilz_industrial_motion_planner_testutils::XmlTestdataLoader::~XmlTestdataLoader ( )

override

Definition at line 173 of file xml_testdata_loader.cpp.

Member Function Documentation

◆ getCircCartCenterCart()

CircCenterCart pilz_industrial_motion_planner_testutils::XmlTestdataLoader::getCircCartCenterCart ( const std::string & cmd_name ) const

overridevirtual

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

Implements pilz_industrial_motion_planner_testutils::TestdataLoader.

Definition at line 427 of file xml_testdata_loader.cpp.

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◆ getCircCartInterimCart()

CircInterimCart pilz_industrial_motion_planner_testutils::XmlTestdataLoader::getCircCartInterimCart ( const std::string & cmd_name ) const

overridevirtual

Implements pilz_industrial_motion_planner_testutils::TestdataLoader.

Definition at line 444 of file xml_testdata_loader.cpp.

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◆ getCircJointCenterCart()

CircJointCenterCart pilz_industrial_motion_planner_testutils::XmlTestdataLoader::getCircJointCenterCart ( const std::string & cmd_name ) const

overridevirtual

Implements pilz_industrial_motion_planner_testutils::TestdataLoader.

Definition at line 478 of file xml_testdata_loader.cpp.

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◆ getCircJointInterimCart()

CircJointInterimCart pilz_industrial_motion_planner_testutils::XmlTestdataLoader::getCircJointInterimCart ( const std::string & cmd_name ) const

overridevirtual

Implements pilz_industrial_motion_planner_testutils::TestdataLoader.

Definition at line 461 of file xml_testdata_loader.cpp.

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◆ getGripper()

Gripper pilz_industrial_motion_planner_testutils::XmlTestdataLoader::getGripper ( const std::string & cmd_name ) const

overridevirtual

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

Implements pilz_industrial_motion_planner_testutils::TestdataLoader.

Definition at line 536 of file xml_testdata_loader.cpp.

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◆ getJoints()

JointConfiguration pilz_industrial_motion_planner_testutils::XmlTestdataLoader::getJoints	(	const std::string &	pos_name,
		const std::string &	group_name
	)		const

overridevirtual

Implements pilz_industrial_motion_planner_testutils::TestdataLoader.

Definition at line 222 of file xml_testdata_loader.cpp.

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◆ getLinCart()

LinCart pilz_industrial_motion_planner_testutils::XmlTestdataLoader::getLinCart ( const std::string & cmd_name ) const

overridevirtual

Implements pilz_industrial_motion_planner_testutils::TestdataLoader.

Definition at line 344 of file xml_testdata_loader.cpp.

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◆ getLinJoint()

LinJoint pilz_industrial_motion_planner_testutils::XmlTestdataLoader::getLinJoint ( const std::string & cmd_name ) const

overridevirtual

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

Implements pilz_industrial_motion_planner_testutils::TestdataLoader.

Definition at line 328 of file xml_testdata_loader.cpp.

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◆ getLinJointCart()

LinJointCart pilz_industrial_motion_planner_testutils::XmlTestdataLoader::getLinJointCart ( const std::string & cmd_name ) const

overridevirtual

Implements pilz_industrial_motion_planner_testutils::TestdataLoader.

Definition at line 360 of file xml_testdata_loader.cpp.

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◆ getPose()

CartesianConfiguration pilz_industrial_motion_planner_testutils::XmlTestdataLoader::getPose	(	const std::string &	pos_name,
		const std::string &	group_name
	)		const

overridevirtual

Implements pilz_industrial_motion_planner_testutils::TestdataLoader.

Definition at line 248 of file xml_testdata_loader.cpp.

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◆ getPtpCart()

PtpCart pilz_industrial_motion_planner_testutils::XmlTestdataLoader::getPtpCart ( const std::string & cmd_name ) const

overridevirtual

Implements pilz_industrial_motion_planner_testutils::TestdataLoader.

Definition at line 312 of file xml_testdata_loader.cpp.

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◆ getPtpJoint()

PtpJoint pilz_industrial_motion_planner_testutils::XmlTestdataLoader::getPtpJoint ( const std::string & cmd_name ) const

overridevirtual

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

Implements pilz_industrial_motion_planner_testutils::TestdataLoader.

Definition at line 280 of file xml_testdata_loader.cpp.

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◆ getPtpJointCart()

PtpJointCart pilz_industrial_motion_planner_testutils::XmlTestdataLoader::getPtpJointCart ( const std::string & cmd_name ) const

overridevirtual

Implements pilz_industrial_motion_planner_testutils::TestdataLoader.

Definition at line 296 of file xml_testdata_loader.cpp.

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◆ getSequence()

Sequence pilz_industrial_motion_planner_testutils::XmlTestdataLoader::getSequence ( const std::string & cmd_name ) const

overridevirtual

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

Implements pilz_industrial_motion_planner_testutils::TestdataLoader.

Definition at line 495 of file xml_testdata_loader.cpp.

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

moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/xml_testdata_loader.h
moveit_planners/pilz_industrial_motion_planner_testutils/src/xml_testdata_loader.cpp

Classes

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ XmlTestdataLoader() [1/2]

◆ XmlTestdataLoader() [2/2]

◆ ~XmlTestdataLoader()

Member Function Documentation

◆ getCircCartCenterCart()

◆ getCircCartInterimCart()

◆ getCircJointCenterCart()

◆ getCircJointInterimCart()

◆ getGripper()

◆ getJoints()

◆ getLinCart()

◆ getLinJoint()

◆ getLinJointCart()

◆ getPose()

◆ getPtpCart()

◆ getPtpJoint()

◆ getPtpJointCart()

◆ getSequence()