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, JointConfiguration >	PtpJoint

typedef Ptp< JointConfiguration, CartesianConfiguration >	PtpJointCart

typedef Ptp< CartesianConfiguration, CartesianConfiguration >	PtpCart

typedef Lin< JointConfiguration, JointConfiguration >	LinJoint

typedef Lin< JointConfiguration, CartesianConfiguration >	LinJointCart

typedef Lin< CartesianConfiguration, CartesianConfiguration >	LinCart

typedef Circ< CartesianConfiguration, CartesianCenter, CartesianConfiguration >	CircCenterCart

typedef Circ< CartesianConfiguration, CartesianInterim, CartesianConfiguration >	CircInterimCart

typedef Circ< JointConfiguration, CartesianCenter, JointConfiguration >	CircJointCenterCart

typedef Circ< JointConfiguration, CartesianInterim, JointConfiguration >	CircJointInterimCart

typedef std::variant< PtpJoint, PtpJointCart, PtpCart, LinJoint, LinCart, CircCenterCart, CircInterimCart, CircJointCenterCart, CircJointInterimCart, Gripper >	CmdVariant

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

using pilz_industrial_motion_planner_testutils::CartesianCenter = typedef Center<CartesianConfiguration, CartesianPathConstraintsBuilder>

Definition at line 44 of file circ_auxiliary_types.h.

◆ CartesianInterim

using pilz_industrial_motion_planner_testutils::CartesianInterim = typedef Interim<CartesianConfiguration, CartesianPathConstraintsBuilder>

Definition at line 45 of file circ_auxiliary_types.h.

◆ CircCenterCart

typedef Circ<CartesianConfiguration, CartesianCenter, CartesianConfiguration> pilz_industrial_motion_planner_testutils::CircCenterCart

Definition at line 57 of file command_types_typedef.h.

◆ CircInterimCart

typedef Circ<CartesianConfiguration, CartesianInterim, CartesianConfiguration> pilz_industrial_motion_planner_testutils::CircInterimCart

Definition at line 58 of file command_types_typedef.h.

◆ CircJointCenterCart

typedef Circ<JointConfiguration, CartesianCenter, JointConfiguration> pilz_industrial_motion_planner_testutils::CircJointCenterCart

Definition at line 60 of file command_types_typedef.h.

◆ CircJointInterimCart

typedef Circ<JointConfiguration, CartesianInterim, JointConfiguration> pilz_industrial_motion_planner_testutils::CircJointInterimCart

Definition at line 61 of file command_types_typedef.h.

◆ CmdVariant

typedef std::variant<PtpJoint, PtpJointCart, PtpCart, LinJoint, LinCart, CircCenterCart, CircInterimCart, CircJointCenterCart, CircJointInterimCart, Gripper> pilz_industrial_motion_planner_testutils::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

typedef Lin<CartesianConfiguration, CartesianConfiguration> pilz_industrial_motion_planner_testutils::LinCart

Definition at line 55 of file command_types_typedef.h.

◆ LinJoint

typedef Lin<JointConfiguration, JointConfiguration> pilz_industrial_motion_planner_testutils::LinJoint

Definition at line 53 of file command_types_typedef.h.

◆ LinJointCart

typedef Lin<JointConfiguration, CartesianConfiguration> pilz_industrial_motion_planner_testutils::LinJointCart

Definition at line 54 of file command_types_typedef.h.

◆ MotionCmdUPtr

using pilz_industrial_motion_planner_testutils::MotionCmdUPtr = typedef std::unique_ptr<MotionCmd>

Definition at line 89 of file motioncmd.h.

◆ PtpCart

typedef Ptp<CartesianConfiguration, CartesianConfiguration> pilz_industrial_motion_planner_testutils::PtpCart

Definition at line 51 of file command_types_typedef.h.

◆ PtpJoint

typedef Ptp<JointConfiguration, JointConfiguration> pilz_industrial_motion_planner_testutils::PtpJoint

Definition at line 49 of file command_types_typedef.h.

◆ PtpJointCart

typedef Ptp<JointConfiguration, CartesianConfiguration> pilz_industrial_motion_planner_testutils::PtpJointCart

Definition at line 50 of file command_types_typedef.h.

◆ TestdataLoaderUPtr

using pilz_industrial_motion_planner_testutils::TestdataLoaderUPtr = typedef std::unique_ptr<TestdataLoader>

Definition at line 117 of file testdata_loader.h.

◆ XmlTestDataLoaderUPtr

using pilz_industrial_motion_planner_testutils::XmlTestDataLoaderUPtr = typedef std::unique_ptr<TestdataLoader>

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.

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ CartesianCenter

◆ CartesianInterim

◆ CircCenterCart

◆ CircInterimCart

◆ CircJointCenterCart

◆ CircJointInterimCart

◆ CmdVariant

◆ CreateJointNameFunc

◆ LinCart

◆ LinJoint

◆ LinJointCart

◆ MotionCmdUPtr

◆ PtpCart

◆ PtpJoint

◆ PtpJointCart

◆ TestdataLoaderUPtr

◆ XmlTestDataLoaderUPtr

Function Documentation

◆ isAtExpectedPosition()

◆ operator<<() [1/2]

◆ operator<<() [2/2]

Variable Documentation

◆ ACC_STR

◆ BLEND_RADIUS_PATH_STR

◆ BLEND_STR

◆ CENTER_POS_STR

◆ CIRC_STR

◆ CIRCS_PATH_STR

◆ CMD_TYPE_PATH_STR

◆ EMPTY_STR

◆ END_POS_STR

◆ GRIPPER_STR

◆ GRIPPERS_PATH_STR

◆ GROUP_NAME_PATH_STR

◆ INTERMEDIATE_POS_STR

◆ JOINT_STR

◆ LIN_STR

◆ LINK_NAME_PATH_STR

◆ LINS_PATH_STR

◆ NAME_PATH_STR

◆ PLANNING_GROUP_STR

◆ POSE_STR

◆ POSES_PATH_STR

◆ PTP_STR

◆ PTPS_PATH_STR

◆ SEED_STR

◆ SEQUENCE_PATH_STR

◆ START_POS_STR

◆ TARGET_LINK_STR

◆ VEL_STR

◆ XML_ATTR_STR

◆ XYZ_EULER_STR

◆ XYZ_QUAT_STR