moveit2
The MoveIt Motion Planning Framework for ROS 2.
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#include <gtest/gtest.h>
#include <iostream>
#include <memory>
#include <string>
#include <vector>
#include <moveit/kinematic_constraints/utils.h>
#include <moveit/planning_interface/planning_request.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/robot_state/conversions.h>
#include <moveit_msgs/Constraints.h>
#include <moveit_msgs/GetMotionPlan.h>
#include <moveit_msgs/JointConstraint.h>
#include <pilz_industrial_motion_planner_testutils/command_types_typedef.h>
#include <pilz_industrial_motion_planner_testutils/xml_testdata_loader.h>
#include <ros/ros.h>
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include "test_utils.h"
Go to the source code of this file.
Classes | |
class | IntegrationTestCommandPlanning |
Functions | |
const std::string | PARAM_PLANNING_GROUP_NAME ("planning_group") |
const std::string | POSE_TRANSFORM_MATRIX_NORM_TOLERANCE ("pose_norm_tolerance") |
const std::string | ORIENTATION_NORM_TOLERANCE ("orientation_norm_tolerance") |
const std::string | PARAM_TARGET_LINK_NAME ("target_link") |
const std::string | TEST_DATA_FILE_NAME ("testdata_file_name") |
TEST_F (IntegrationTestCommandPlanning, PtpJoint) | |
Tests if ptp motions with start & goal state given as joint configuration are executed correctly. | |
TEST_F (IntegrationTestCommandPlanning, PtpJointCart) | |
Tests if ptp motions with start state given as joint configuration and goal state given as cartesian configuration are executed correctly. | |
TEST_F (IntegrationTestCommandPlanning, LinJoint) | |
Tests if linear motions with start and goal state given as joint configuration are executed correctly. | |
TEST_F (IntegrationTestCommandPlanning, LinJointCart) | |
Tests if linear motions with start state given as joint configuration and goal state given as cartesian configuration are executed correctly. | |
TEST_F (IntegrationTestCommandPlanning, CircJointCenterCart) | |
Tests if circular motions with start & goal state given as joint configuration and center point given as cartesian configuration are executed correctly. | |
TEST_F (IntegrationTestCommandPlanning, CircCartCenterCart) | |
Tests if linear motions with start state given as cartesian configuration and goal state given as cartesian configuration are executed correctly. | |
int | main (int argc, char **argv) |
Variables | |
const double | EPSILON = 1.0e-6 |
const std::string | PLAN_SERVICE_NAME = "/plan_kinematic_path" |
int main | ( | int | argc, |
char ** | argv | ||
) |
Definition at line 492 of file integrationtest_command_planning.cpp.
const std::string ORIENTATION_NORM_TOLERANCE | ( | "orientation_norm_tolerance" | ) |
const std::string PARAM_PLANNING_GROUP_NAME | ( | "planning_group" | ) |
const std::string PARAM_TARGET_LINK_NAME | ( | "target_link" | ) |
const std::string POSE_TRANSFORM_MATRIX_NORM_TOLERANCE | ( | "pose_norm_tolerance" | ) |
const std::string TEST_DATA_FILE_NAME | ( | "testdata_file_name" | ) |
TEST_F | ( | IntegrationTestCommandPlanning | , |
CircCartCenterCart | |||
) |
Tests if linear motions with start state given as cartesian configuration and goal state given as cartesian configuration are executed correctly.
Definition at line 423 of file integrationtest_command_planning.cpp.
TEST_F | ( | IntegrationTestCommandPlanning | , |
CircJointCenterCart | |||
) |
Tests if circular motions with start & goal state given as joint configuration and center point given as cartesian configuration are executed correctly.
Test Sequence:
Expected Results:
Definition at line 338 of file integrationtest_command_planning.cpp.
TEST_F | ( | IntegrationTestCommandPlanning | , |
LinJoint | |||
) |
Tests if linear motions with start and goal state given as joint configuration are executed correctly.
Test Sequence:
Expected Results:
Definition at line 239 of file integrationtest_command_planning.cpp.
TEST_F | ( | IntegrationTestCommandPlanning | , |
LinJointCart | |||
) |
Tests if linear motions with start state given as joint configuration and goal state given as cartesian configuration are executed correctly.
Test Sequence:
Expected Results:
Definition at line 290 of file integrationtest_command_planning.cpp.
TEST_F | ( | IntegrationTestCommandPlanning | , |
PtpJoint | |||
) |
Tests if ptp motions with start & goal state given as joint configuration are executed correctly.
Test Sequence:
Expected Results:
Definition at line 126 of file integrationtest_command_planning.cpp.
TEST_F | ( | IntegrationTestCommandPlanning | , |
PtpJointCart | |||
) |
Tests if ptp motions with start state given as joint configuration and goal state given as cartesian configuration are executed correctly.
Test Sequence:
Expected Results:
Definition at line 175 of file integrationtest_command_planning.cpp.
const double EPSILON = 1.0e-6 |
Definition at line 57 of file integrationtest_command_planning.cpp.
const std::string PLAN_SERVICE_NAME = "/plan_kinematic_path" |
Definition at line 58 of file integrationtest_command_planning.cpp.