integrationtest_command_planning.cpp File Reference

#include <gtest/gtest.h>
#include <iostream>
#include <memory>
#include <string>
#include <vector>
#include <moveit/kinematic_constraints/utils.hpp>
#include <moveit/planning_interface/planning_request.hpp>
#include <moveit/robot_model_loader/robot_model_loader.hpp>
#include <moveit/robot_state/conversions.hpp>
#include <moveit_msgs/Constraints.h>
#include <moveit_msgs/GetMotionPlan.h>
#include <moveit_msgs/JointConstraint.h>
#include <pilz_industrial_motion_planner_testutils/command_types_typedef.hpp>
#include <pilz_industrial_motion_planner_testutils/xml_testdata_loader.hpp>
#include <ros/ros.h>
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include "test_utils.hpp"

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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"

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 492 of file integrationtest_command_planning.cpp.

ORIENTATION_NORM_TOLERANCE()

const std::string ORIENTATION_NORM_TOLERANCE

(

"orientation_norm_tolerance"

)

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PARAM_PLANNING_GROUP_NAME()

const std::string PARAM_PLANNING_GROUP_NAME

(

"planning_group"

)

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PARAM_TARGET_LINK_NAME()

const std::string PARAM_TARGET_LINK_NAME

(

"target_link"

)

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POSE_TRANSFORM_MATRIX_NORM_TOLERANCE()

const std::string POSE_TRANSFORM_MATRIX_NORM_TOLERANCE

(

"pose_norm_tolerance"

)

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TEST_DATA_FILE_NAME()

const std::string TEST_DATA_FILE_NAME

(

"testdata_file_name"

)

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TEST_F() [1/6]

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.

• Test Sequence:
  1. Generate request with POSE goal and start state call planning service.
• Expected Results:
  1. Last point of the resulting trajectory is at the goal
  2. Waypoints are on the desired circle

Definition at line 423 of file integrationtest_command_planning.cpp.

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TEST_F() [2/6]

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:

1. Generate request with JOINT goal and start state call planning service.

Expected Results:

1. Last point of the resulting trajectory is at the goal
2. Waypoints are on the desired circle

Definition at line 338 of file integrationtest_command_planning.cpp.

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TEST_F() [3/6]

TEST_F	(	IntegrationTestCommandPlanning	,
		LinJoint
	)

Tests if linear motions with start and goal state given as joint configuration are executed correctly.

Test Sequence:

1. Generate request and make service request.
2. Check if target position correct.
3. Check if trajectory is linear.

Expected Results:

1. Planning request is successful.
2. Goal position corresponds with the given goal position.
3. Trajectory is a straight line.

Definition at line 239 of file integrationtest_command_planning.cpp.

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TEST_F() [4/6]

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:

1. Generate request and make service request.
2. Check if target position correct.
3. Check if trajectory is linear.

Expected Results:

1. Planning request is successful.
2. Goal position corresponds with the given goal position.
3. Trajectory is a straight line.

Definition at line 290 of file integrationtest_command_planning.cpp.

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TEST_F() [5/6]

TEST_F	(	IntegrationTestCommandPlanning	,
		PtpJoint
	)

Tests if ptp motions with start & goal state given as joint configuration are executed correctly.

Test Sequence:

1. Generate request with joint goal and start state call planning service.

Expected Results:

1. Last point of the resulting trajectory is at the goal

Definition at line 126 of file integrationtest_command_planning.cpp.

TEST_F() [6/6]

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:

1. Generate request with pose goal and start state call planning service.

Expected Results:

1. Last point of the resulting trajectory is at the goal

Definition at line 175 of file integrationtest_command_planning.cpp.

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Variable Documentation

EPSILON

const double EPSILON = 1.0e-6

Definition at line 57 of file integrationtest_command_planning.cpp.

PLAN_SERVICE_NAME

const std::string PLAN_SERVICE_NAME = "/plan_kinematic_path"

Definition at line 58 of file integrationtest_command_planning.cpp.