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The MoveIt Motion Planning Framework for ROS 2.
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Classes | Typedefs | Functions | Variables
pilz_industrial_motion_planner_testutils Namespace Reference

Classes

class  BaseCmd
 
class  CartesianConfiguration
 Class to define a robot configuration in space with the help of cartesian coordinates. More...
 
class  CartesianPathConstraintsBuilder
 Helper class to build moveit_msgs::msg::Constraints from a given configuration. More...
 
class  Center
 Class to define the center point of the circle on which the robot is supposed to move via circ command. More...
 
class  Circ
 Data class storing all information regarding a Circ command. More...
 
class  CircAuxiliary
 Base class to define an auxiliary point needed to specify circ commands. More...
 
class  CmdGetterAdapter
 
class  CmdReader
 
class  GoalConstraintMsgConvertible
 Interface class to express that a derived class can be converted into a moveit_msgs::msg::Constraints. More...
 
class  Gripper
 
class  Interim
 Class to define a point on the circle on which the robot is supposed to move via circ command. More...
 
class  JointConfiguration
 Class to define a robot configuration in space with the help of joint values. More...
 
class  JointConfigurationException
 
class  Lin
 Data class storing all information regarding a linear command. More...
 
class  MotionCmd
 Base class for commands storing all general information of a command. More...
 
class  MotionPlanRequestConvertible
 Interface class to express that a derived class can be converted into a planning_interface::MotionPlanRequest. More...
 
class  Ptp
 Data class storing all information regarding a Ptp command. More...
 
class  RobotConfiguration
 Class to define robot configuration in space. More...
 
class  RobotStateMsgConvertible
 Interface class to express that a derived class can be converted into a moveit_msgs::msg::RobotState. More...
 
class  Sequence
 Data class storing all information regarding a Sequence command. More...
 
class  TestdataLoader
 Abstract base class describing the interface to access test data like robot poses and robot commands. More...
 
class  TestDataLoaderReadingException
 
class  ToBaseVisitor
 Visitor returning not the specific command type but the base type. More...
 
class  ToReqVisitor
 Visitor transforming the stored command into a MotionPlanRequest. More...
 
class  XmlTestdataLoader
 Implements a test data loader which uses a xml file to store the test data. More...
 

Typedefs

using CartesianCenter = Center< CartesianConfiguration, CartesianPathConstraintsBuilder >
 
using CartesianInterim = Interim< CartesianConfiguration, CartesianPathConstraintsBuilder >
 
typedef Ptp< JointConfiguration, JointConfigurationPtpJoint
 
typedef Ptp< JointConfiguration, CartesianConfigurationPtpJointCart
 
typedef Ptp< CartesianConfiguration, CartesianConfigurationPtpCart
 
typedef Lin< JointConfiguration, JointConfigurationLinJoint
 
typedef Lin< JointConfiguration, CartesianConfigurationLinJointCart
 
typedef Lin< CartesianConfiguration, CartesianConfigurationLinCart
 
typedef Circ< CartesianConfiguration, CartesianCenter, CartesianConfigurationCircCenterCart
 
typedef Circ< CartesianConfiguration, CartesianInterim, CartesianConfigurationCircInterimCart
 
typedef Circ< JointConfiguration, CartesianCenter, JointConfigurationCircJointCenterCart
 
typedef Circ< JointConfiguration, CartesianInterim, JointConfigurationCircJointInterimCart
 
typedef std::variant< PtpJoint, PtpJointCart, PtpCart, LinJoint, LinCart, CircCenterCart, CircInterimCart, CircJointCenterCart, CircJointInterimCart, GripperCmdVariant
 
using CreateJointNameFunc = std::function< std::string(const size_t &)>
 
using MotionCmdUPtr = std::unique_ptr< MotionCmd >
 
using TestdataLoaderUPtr = std::unique_ptr< TestdataLoader >
 
using XmlTestDataLoaderUPtr = std::unique_ptr< TestdataLoader >
 

Functions

std::ostream & operator<< (std::ostream &, const CartesianConfiguration &)
 
::testing::AssertionResult isAtExpectedPosition (const moveit::core::RobotState &expected, const moveit::core::RobotState &actual, const double epsilon, const std::string &group_name="")
 
std::ostream & operator<< (std::ostream &, const JointConfiguration &)
 

Variables

const std::string EMPTY_STR {}
 
const std::string XML_ATTR_STR { "<xmlattr>" }
 
const std::string JOINT_STR { "joints" }
 
const std::string POSE_STR { "pos" }
 
const std::string XYZ_QUAT_STR { "xyzQuat" }
 
const std::string XYZ_EULER_STR { "xyzEuler" }
 
const std::string SEED_STR { "seed" }
 
const std::string PTP_STR { "ptp" }
 
const std::string LIN_STR { "lin" }
 
const std::string CIRC_STR { "circ" }
 
const std::string BLEND_STR { "blend" }
 
const std::string GRIPPER_STR { "gripper" }
 
const std::string PLANNING_GROUP_STR { "planningGroup" }
 
const std::string TARGET_LINK_STR { "targetLink" }
 
const std::string START_POS_STR { "startPos" }
 
const std::string END_POS_STR { "endPos" }
 
const std::string INTERMEDIATE_POS_STR { "intermediatePos" }
 
const std::string CENTER_POS_STR { "centerPos" }
 
const std::string VEL_STR { "vel" }
 
const std::string ACC_STR { "acc" }
 
const std::string POSES_PATH_STR { "testdata.poses" }
 
const std::string PTPS_PATH_STR { "testdata." + PTP_STR + "s" }
 
const std::string LINS_PATH_STR { "testdata." + LIN_STR + "s" }
 
const std::string CIRCS_PATH_STR { "testdata." + CIRC_STR + "s" }
 
const std::string SEQUENCE_PATH_STR { "testdata.sequences" }
 
const std::string GRIPPERS_PATH_STR { "testdata." + GRIPPER_STR + "s" }
 
const std::string NAME_PATH_STR { XML_ATTR_STR + ".name" }
 
const std::string CMD_TYPE_PATH_STR { XML_ATTR_STR + ".type" }
 
const std::string BLEND_RADIUS_PATH_STR { XML_ATTR_STR + ".blend_radius" }
 
const std::string LINK_NAME_PATH_STR { XML_ATTR_STR + ".link_name" }
 
const std::string GROUP_NAME_PATH_STR { XML_ATTR_STR + ".group_name" }
 

Typedef Documentation

◆ CartesianCenter

Definition at line 44 of file circ_auxiliary_types.h.

◆ CartesianInterim

Definition at line 45 of file circ_auxiliary_types.h.

◆ CircCenterCart

Definition at line 57 of file command_types_typedef.h.

◆ CircInterimCart

Definition at line 58 of file command_types_typedef.h.

◆ CircJointCenterCart

Definition at line 60 of file command_types_typedef.h.

◆ CircJointInterimCart

Definition at line 61 of file command_types_typedef.h.

◆ CmdVariant

Definition at line 65 of file command_types_typedef.h.

◆ CreateJointNameFunc

using pilz_industrial_motion_planner_testutils::CreateJointNameFunc = typedef std::function<std::string(const size_t&)>

Definition at line 59 of file jointconfiguration.h.

◆ LinCart

Definition at line 55 of file command_types_typedef.h.

◆ LinJoint

Definition at line 53 of file command_types_typedef.h.

◆ LinJointCart

Definition at line 54 of file command_types_typedef.h.

◆ MotionCmdUPtr

Definition at line 89 of file motioncmd.h.

◆ PtpCart

Definition at line 51 of file command_types_typedef.h.

◆ PtpJoint

Definition at line 49 of file command_types_typedef.h.

◆ PtpJointCart

Definition at line 50 of file command_types_typedef.h.

◆ TestdataLoaderUPtr

Definition at line 117 of file testdata_loader.h.

◆ XmlTestDataLoaderUPtr

Definition at line 225 of file xml_testdata_loader.h.

Function Documentation

◆ isAtExpectedPosition()

::testing::AssertionResult pilz_industrial_motion_planner_testutils::isAtExpectedPosition ( const moveit::core::RobotState expected,
const moveit::core::RobotState actual,
const double  epsilon,
const std::string &  group_name = "" 
)

Definition at line 42 of file checks.h.

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◆ operator<<() [1/2]

std::ostream & pilz_industrial_motion_planner_testutils::operator<< ( std::ostream &  os,
const CartesianConfiguration obj 
)

Definition at line 125 of file cartesianconfiguration.cpp.

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◆ operator<<() [2/2]

std::ostream & pilz_industrial_motion_planner_testutils::operator<< ( std::ostream &  os,
const JointConfiguration obj 
)

Definition at line 144 of file jointconfiguration.cpp.

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Variable Documentation

◆ ACC_STR

const std::string pilz_industrial_motion_planner_testutils::ACC_STR { "acc" }

Definition at line 63 of file xml_constants.h.

◆ BLEND_RADIUS_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::BLEND_RADIUS_PATH_STR { XML_ATTR_STR + ".blend_radius" }

Definition at line 74 of file xml_constants.h.

◆ BLEND_STR

const std::string pilz_industrial_motion_planner_testutils::BLEND_STR { "blend" }

Definition at line 53 of file xml_constants.h.

◆ CENTER_POS_STR

const std::string pilz_industrial_motion_planner_testutils::CENTER_POS_STR { "centerPos" }

Definition at line 61 of file xml_constants.h.

◆ CIRC_STR

const std::string pilz_industrial_motion_planner_testutils::CIRC_STR { "circ" }

Definition at line 52 of file xml_constants.h.

◆ CIRCS_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::CIRCS_PATH_STR { "testdata." + CIRC_STR + "s" }

Definition at line 68 of file xml_constants.h.

◆ CMD_TYPE_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::CMD_TYPE_PATH_STR { XML_ATTR_STR + ".type" }

Definition at line 73 of file xml_constants.h.

◆ EMPTY_STR

const std::string pilz_industrial_motion_planner_testutils::EMPTY_STR {}

Definition at line 41 of file xml_constants.h.

◆ END_POS_STR

const std::string pilz_industrial_motion_planner_testutils::END_POS_STR { "endPos" }

Definition at line 59 of file xml_constants.h.

◆ GRIPPER_STR

const std::string pilz_industrial_motion_planner_testutils::GRIPPER_STR { "gripper" }

Definition at line 54 of file xml_constants.h.

◆ GRIPPERS_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::GRIPPERS_PATH_STR { "testdata." + GRIPPER_STR + "s" }

Definition at line 70 of file xml_constants.h.

◆ GROUP_NAME_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::GROUP_NAME_PATH_STR { XML_ATTR_STR + ".group_name" }

Definition at line 76 of file xml_constants.h.

◆ INTERMEDIATE_POS_STR

const std::string pilz_industrial_motion_planner_testutils::INTERMEDIATE_POS_STR { "intermediatePos" }

Definition at line 60 of file xml_constants.h.

◆ JOINT_STR

const std::string pilz_industrial_motion_planner_testutils::JOINT_STR { "joints" }

Definition at line 44 of file xml_constants.h.

◆ LIN_STR

const std::string pilz_industrial_motion_planner_testutils::LIN_STR { "lin" }

Definition at line 51 of file xml_constants.h.

◆ LINK_NAME_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::LINK_NAME_PATH_STR { XML_ATTR_STR + ".link_name" }

Definition at line 75 of file xml_constants.h.

◆ LINS_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::LINS_PATH_STR { "testdata." + LIN_STR + "s" }

Definition at line 67 of file xml_constants.h.

◆ NAME_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::NAME_PATH_STR { XML_ATTR_STR + ".name" }

Definition at line 72 of file xml_constants.h.

◆ PLANNING_GROUP_STR

const std::string pilz_industrial_motion_planner_testutils::PLANNING_GROUP_STR { "planningGroup" }

Definition at line 56 of file xml_constants.h.

◆ POSE_STR

const std::string pilz_industrial_motion_planner_testutils::POSE_STR { "pos" }

Definition at line 45 of file xml_constants.h.

◆ POSES_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::POSES_PATH_STR { "testdata.poses" }

Definition at line 65 of file xml_constants.h.

◆ PTP_STR

const std::string pilz_industrial_motion_planner_testutils::PTP_STR { "ptp" }

Definition at line 50 of file xml_constants.h.

◆ PTPS_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::PTPS_PATH_STR { "testdata." + PTP_STR + "s" }

Definition at line 66 of file xml_constants.h.

◆ SEED_STR

const std::string pilz_industrial_motion_planner_testutils::SEED_STR { "seed" }

Definition at line 48 of file xml_constants.h.

◆ SEQUENCE_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::SEQUENCE_PATH_STR { "testdata.sequences" }

Definition at line 69 of file xml_constants.h.

◆ START_POS_STR

const std::string pilz_industrial_motion_planner_testutils::START_POS_STR { "startPos" }

Definition at line 58 of file xml_constants.h.

◆ TARGET_LINK_STR

const std::string pilz_industrial_motion_planner_testutils::TARGET_LINK_STR { "targetLink" }

Definition at line 57 of file xml_constants.h.

◆ VEL_STR

const std::string pilz_industrial_motion_planner_testutils::VEL_STR { "vel" }

Definition at line 62 of file xml_constants.h.

◆ XML_ATTR_STR

const std::string pilz_industrial_motion_planner_testutils::XML_ATTR_STR { "<xmlattr>" }

Definition at line 43 of file xml_constants.h.

◆ XYZ_EULER_STR

const std::string pilz_industrial_motion_planner_testutils::XYZ_EULER_STR { "xyzEuler" }

Definition at line 47 of file xml_constants.h.

◆ XYZ_QUAT_STR

const std::string pilz_industrial_motion_planner_testutils::XYZ_QUAT_STR { "xyzQuat" }

Definition at line 46 of file xml_constants.h.