Classes
struct	BlendTestData
	Test data for blending, which contains three joint position vectors of three robot state. More...

Functions
const std::string	JOINT_NAME_PREFIX ("prbt_joint_")

std::string	getJointName (size_t joint_number, const std::string &joint_prefix)

pilz_industrial_motion_planner::JointLimitsContainer	createFakeLimits (const std::vector< std::string > &joint_names)
	Create limits for tests to avoid the need to get the limits from the node parameter.

std::string	demangle (const char *name)

sensor_msgs::msg::JointState	generateJointState (const std::vector< double > &pos, const std::vector< double > &vel, const std::string &joint_prefix=testutils::JOINT_NAME_PREFIX)

sensor_msgs::msg::JointState	generateJointState (const std::vector< double > &pos, const std::string &joint_prefix=testutils::JOINT_NAME_PREFIX)

moveit_msgs::msg::Constraints	generateJointConstraint (const std::vector< double > &pos_list, const std::string &joint_prefix=testutils::JOINT_NAME_PREFIX)

bool	getExpectedGoalPose (const moveit::core::RobotModelConstPtr &robot_model, const planning_interface::MotionPlanRequest &req, std::string &link_name, Eigen::Isometry3d &goal_pose_expect)
	Determines the goal position from the given request. TRUE if successful, FALSE otherwise.

void	createDummyRequest (const moveit::core::RobotModelConstPtr &robot_model, const std::string &planning_group, planning_interface::MotionPlanRequest &req)
	create a dummy motion plan request with zero start state No goal constraint is given.

void	createPTPRequest (const std::string &planning_group, const moveit::core::RobotState &start_state, const moveit::core::RobotState &goal_state, planning_interface::MotionPlanRequest &req)

bool	isGoalReached (const trajectory_msgs::msg::JointTrajectory &trajectory, const std::vector< moveit_msgs::msg::JointConstraint > &goal, const double joint_position_tolerance, const double joint_velocity_tolerance=1.0e-6)
	check if the goal given in joint space is reached Only the last point in the trajectory is verified.

bool	isGoalReached (const moveit::core::RobotModelConstPtr &robot_model, const trajectory_msgs::msg::JointTrajectory &trajectory, const planning_interface::MotionPlanRequest &req, const double pos_tolerance, const double orientation_tolerance)
	check if the goal given in cartesian space is reached Only the last point in the trajectory is verified.

bool	isGoalReached (const moveit::core::RobotModelConstPtr &robot_model, const trajectory_msgs::msg::JointTrajectory &trajectory, const planning_interface::MotionPlanRequest &req, const double tolerance)

bool	checkCartesianLinearity (const moveit::core::RobotModelConstPtr &robot_model, const trajectory_msgs::msg::JointTrajectory &trajectory, const planning_interface::MotionPlanRequest &req, const double translation_norm_tolerance, const double rot_axis_norm_tolerance, const double rot_angle_tolerance=10e-5)
	Check that given trajectory is straight line.

bool	checkSLERP (const Eigen::Isometry3d &start_pose, const Eigen::Isometry3d &goal_pose, const Eigen::Isometry3d &wp_pose, const double rot_axis_norm_tolerance, const double rot_angle_tolerance=10e-5)
	check SLERP. The orientation should rotate around the same axis linearly.

int	getWayPointIndex (const robot_trajectory::RobotTrajectoryPtr &trajectory, const double time_from_start)
	get the waypoint index from time from start

bool	checkJointTrajectory (const trajectory_msgs::msg::JointTrajectory &trajectory, const pilz_industrial_motion_planner::JointLimitsContainer &joint_limits)
	check joint trajectory of consistency, position, velocity and acceleration limits

::testing::AssertionResult	hasStrictlyIncreasingTime (const robot_trajectory::RobotTrajectoryPtr &trajectory)
	Checks that every waypoint in the trajectory has a non-zero duration between itself and its predecessor.

bool	isTrajectoryConsistent (const trajectory_msgs::msg::JointTrajectory &trajectory)
	check if the sizes of the joint position/veloicty/acceleration are correct

bool	isPositionBounded (const trajectory_msgs::msg::JointTrajectory &trajectory, const pilz_industrial_motion_planner::JointLimitsContainer &joint_limits)
	is Position Bounded

bool	isVelocityBounded (const trajectory_msgs::msg::JointTrajectory &trajectory, const pilz_industrial_motion_planner::JointLimitsContainer &joint_limits)
	is Velocity Bounded

bool	isAccelerationBounded (const trajectory_msgs::msg::JointTrajectory &trajectory, const pilz_industrial_motion_planner::JointLimitsContainer &joint_limits)
	is Acceleration Bounded

bool	toTCPPose (const moveit::core::RobotModelConstPtr &robot_model, const std::string &link_name, const std::vector< double > &joint_values, geometry_msgs::msg::Pose &pose, const std::string &joint_prefix=testutils::JOINT_NAME_PREFIX)
	compute the tcp pose from joint values

bool	computeLinkFK (const moveit::core::RobotModelConstPtr &robot_model, const std::string &link_name, const std::map< std::string, double > &joint_state, Eigen::Isometry3d &pose)
	computeLinkFK

bool	checkOriginalTrajectoryAfterBlending (const pilz_industrial_motion_planner::TrajectoryBlendRequest &req, const pilz_industrial_motion_planner::TrajectoryBlendResponse &res, const double time_tolerance)
	checkOriginalTrajectoryAfterBlending

bool	checkBlendingJointSpaceContinuity (const pilz_industrial_motion_planner::TrajectoryBlendResponse &res, double joint_velocity_tolerance, double joint_accleration_tolerance)
	check the blending result, if the joint space continuity is fulfilled

bool	checkBlendingCartSpaceContinuity (const pilz_industrial_motion_planner::TrajectoryBlendRequest &req, const pilz_industrial_motion_planner::TrajectoryBlendResponse &res, const pilz_industrial_motion_planner::LimitsContainer &planner_limits)

bool	checkThatPointsInRadius (const std::string &link_name, double r, Eigen::Isometry3d &circ_pose, const pilz_industrial_motion_planner::TrajectoryBlendResponse &res)
	Checks if all points of the blending trajectory lie within the blending radius.

void	computeCartVelocity (const Eigen::Isometry3d &pose_1, const Eigen::Isometry3d &pose_2, double duration, Eigen::Vector3d &v, Eigen::Vector3d &w)
	compute Cartesian velocity

void	getLinLinPosesWithoutOriChange (const std::string &frame_id, sensor_msgs::msg::JointState &initialJointState, geometry_msgs::msg::PoseStamped &p1, geometry_msgs::msg::PoseStamped &p2)
	Returns an initial joint state and two poses which can be used to perform a Lin-Lin movement.

void	getOriChange (Eigen::Matrix3d &ori1, Eigen::Matrix3d &ori2)

void	createFakeCartTraj (const robot_trajectory::RobotTrajectoryPtr &traj, const std::string &link_name, moveit_msgs::msg::RobotTrajectory &fake_traj)

geometry_msgs::msg::Quaternion	fromEuler (double a, double b, double c)

bool	getBlendTestData (const rclcpp::Node::SharedPtr &node, const size_t &dataset_num, const std::string &name_prefix, std::vector< BlendTestData > &datasets)
	fetch test datasets from node parameters

bool	checkBlendResult (const pilz_industrial_motion_planner::TrajectoryBlendRequest &blend_req, const pilz_industrial_motion_planner::TrajectoryBlendResponse &blend_res, const pilz_industrial_motion_planner::LimitsContainer &limits, double joint_velocity_tolerance, double joint_acceleration_tolerance, double cartesian_velocity_tolerance, double cartesian_angular_velocity_tolerance)
	check the blending result of lin-lin

bool	generateTrajFromBlendTestData (const planning_scene::PlanningSceneConstPtr &scene, const std::shared_ptr< pilz_industrial_motion_planner::TrajectoryGenerator > &tg, const std::string &group_name, const std::string &link_name, const BlendTestData &data, double sampling_time_1, double sampling_time_2, planning_interface::MotionPlanResponse &res_lin_1, planning_interface::MotionPlanResponse &res_lin_2, double &dis_lin_1, double &dis_lin_2)
	generate two LIN trajectories from test data set

void	generateRequestMsgFromBlendTestData (const moveit::core::RobotModelConstPtr &robot_model, const BlendTestData &data, const std::string &planner_id, const std::string &group_name, const std::string &link_name, moveit_msgs::msg::MotionSequenceRequest &req_list)

void	checkRobotModel (const moveit::core::RobotModelConstPtr &robot_model, const std::string &group_name, const std::string &link_name)

::testing::AssertionResult	hasTrapezoidVelocity (std::vector< double > accelerations, const double acc_tol)
	Check that a given vector of accelerations represents a trapezoid velocity profile.

::testing::AssertionResult	checkCartesianTranslationalPath (const robot_trajectory::RobotTrajectoryConstPtr &trajectory, const std::string &link_name, const double acc_tol=DEFAULT_ACCELERATION_EQUALITY_TOLERANCE)
	Check that the translational path of a given trajectory has a trapezoid velocity profile.

::testing::AssertionResult	checkCartesianRotationalPath (const robot_trajectory::RobotTrajectoryConstPtr &trajectory, const std::string &link_name, const double rot_axis_tol=DEFAULT_ROTATION_AXIS_EQUALITY_TOLERANCE, const double acc_tol=DEFAULT_ACCELERATION_EQUALITY_TOLERANCE)
	Check that the rotational path of a given trajectory is a quaternion slerp.

bool	isMonotonouslyDecreasing (const std::vector< double > &vec, double tol)

Function Documentation

◆ checkBlendingCartSpaceContinuity()

bool testutils::checkBlendingCartSpaceContinuity	(	const pilz_industrial_motion_planner::TrajectoryBlendRequest &	req,
		const pilz_industrial_motion_planner::TrajectoryBlendResponse &	res,
		const pilz_industrial_motion_planner::LimitsContainer &	planner_limits
	)

Definition at line 775 of file test_utils.cpp.

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◆ checkBlendingJointSpaceContinuity()

bool testutils::checkBlendingJointSpaceContinuity	(	const pilz_industrial_motion_planner::TrajectoryBlendResponse &	res,
		double	joint_velocity_tolerance,
		double	joint_accleration_tolerance
	)

check the blending result, if the joint space continuity is fulfilled

Parameters

res	trajectory blending response, contains three trajectories. Between these three trajectories should be continuous.

Returns: true if joint position/velocity is continuous. joint acceleration can have jumps.

Definition at line 671 of file test_utils.cpp.

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◆ checkBlendResult()

bool testutils::checkBlendResult	(	const pilz_industrial_motion_planner::TrajectoryBlendRequest &	blend_req,
		const pilz_industrial_motion_planner::TrajectoryBlendResponse &	blend_res,
		const pilz_industrial_motion_planner::LimitsContainer &	limits,
		double	joint_velocity_tolerance,
		double	joint_acceleration_tolerance,
		double	cartesian_velocity_tolerance,
		double	cartesian_angular_velocity_tolerance
	)

check the blending result of lin-lin

Parameters

lin_res_1
lin_res_2
blend_req
blend_res
checkAcceleration

Definition at line 1119 of file test_utils.cpp.

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◆ checkCartesianLinearity()

bool testutils::checkCartesianLinearity	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const trajectory_msgs::msg::JointTrajectory &	trajectory,
		const planning_interface::MotionPlanRequest &	req,
		const double	translation_norm_tolerance,
		const double	rot_axis_norm_tolerance,
		const double	rot_angle_tolerance = `10e-5`
	)

Check that given trajectory is straight line.

Definition at line 222 of file test_utils.cpp.

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◆ checkCartesianRotationalPath()

testing::AssertionResult testutils::checkCartesianRotationalPath	(	const robot_trajectory::RobotTrajectoryConstPtr &	trajectory,
		const std::string &	link_name,
		const double	rot_axis_tol = `DEFAULT_ROTATION_AXIS_EQUALITY_TOLERANCE`,
		const double	acc_tol = `DEFAULT_ACCELERATION_EQUALITY_TOLERANCE`
	)

Check that the rotational path of a given trajectory is a quaternion slerp.

Parameters

rot_axis_tol	tolerance for comparing rotation axes (in the L2 norm)
acc_tol	tolerance for comparing angular acceleration values

Definition at line 1392 of file test_utils.cpp.

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◆ checkCartesianTranslationalPath()

testing::AssertionResult testutils::checkCartesianTranslationalPath	(	const robot_trajectory::RobotTrajectoryConstPtr &	trajectory,
		const std::string &	link_name,
		const double	acc_tol = `DEFAULT_ACCELERATION_EQUALITY_TOLERANCE`
	)

Check that the translational path of a given trajectory has a trapezoid velocity profile.

Parameters

acc_tol tolerance for comparing acceleration values

Definition at line 1363 of file test_utils.cpp.

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◆ checkJointTrajectory()

bool testutils::checkJointTrajectory	(	const trajectory_msgs::msg::JointTrajectory &	trajectory,
		const pilz_industrial_motion_planner::JointLimitsContainer &	joint_limits
	)

check joint trajectory of consistency, position, velocity and acceleration limits

Parameters

trajectory
joint_limits

Returns

Definition at line 460 of file test_utils.cpp.

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◆ checkOriginalTrajectoryAfterBlending()

bool testutils::checkOriginalTrajectoryAfterBlending	(	const pilz_industrial_motion_planner::TrajectoryBlendRequest &	req,
		const pilz_industrial_motion_planner::TrajectoryBlendResponse &	res,
		const double	time_tolerance
	)

checkOriginalTrajectoryAfterBlending

Parameters

blend_res
traj_1_res
traj_2_res
time_tolerance

Returns

Definition at line 561 of file test_utils.cpp.

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◆ checkRobotModel()

void testutils::checkRobotModel	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const std::string &	group_name,
		const std::string &	link_name
	)

Definition at line 1260 of file test_utils.cpp.

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◆ checkSLERP()

bool testutils::checkSLERP	(	const Eigen::Isometry3d &	start_pose,
		const Eigen::Isometry3d &	goal_pose,
		const Eigen::Isometry3d &	wp_pose,
		const double	rot_axis_norm_tolerance,
		const double	rot_angle_tolerance = `10e-5`
	)

check SLERP. The orientation should rotate around the same axis linearly.

Parameters

start_pose
goal_pose
wp_pose
rot_axis_norm_tolerance

Returns

Definition at line 292 of file test_utils.cpp.

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◆ checkThatPointsInRadius()

bool testutils::checkThatPointsInRadius	(	const std::string &	link_name,
		double	r,
		Eigen::Isometry3d &	circ_pose,
		const pilz_industrial_motion_planner::TrajectoryBlendResponse &	res
	)

Checks if all points of the blending trajectory lie within the blending radius.

Definition at line 929 of file test_utils.cpp.

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◆ computeCartVelocity()

void testutils::computeCartVelocity	(	const Eigen::Isometry3d &	pose_1,
		const Eigen::Isometry3d &	pose_2,
		double	duration,
		Eigen::Vector3d &	v,
		Eigen::Vector3d &	w
	)

compute Cartesian velocity

Parameters

pose_1
pose_2
duration
v
w

Definition at line 946 of file test_utils.cpp.

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◆ computeLinkFK()

bool testutils::computeLinkFK	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const std::string &	link_name,
		const std::map< std::string, double > &	joint_state,
		Eigen::Isometry3d &	pose
	)

computeLinkFK

Parameters

robot_model
link_name
joint_state
pose

Returns

Definition at line 321 of file test_utils.cpp.

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◆ createDummyRequest()

void testutils::createDummyRequest	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const std::string &	planning_group,
		planning_interface::MotionPlanRequest &	req
	)

create a dummy motion plan request with zero start state No goal constraint is given.

Parameters

robot_model
planning_group
req

Definition at line 504 of file test_utils.cpp.

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◆ createFakeCartTraj()

void testutils::createFakeCartTraj	(	const robot_trajectory::RobotTrajectoryPtr &	traj,
		const std::string &	link_name,
		moveit_msgs::msg::RobotTrajectory &	fake_traj
	)

Definition at line 990 of file test_utils.cpp.

◆ createFakeLimits()

pilz_industrial_motion_planner::JointLimitsContainer testutils::createFakeLimits ( const std::vector< std::string > & joint_names )

Create limits for tests to avoid the need to get the limits from the node parameter.

Definition at line 48 of file test_utils.cpp.

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◆ createPTPRequest()

void testutils::createPTPRequest	(	const std::string &	planning_group,
		const moveit::core::RobotState &	start_state,
		const moveit::core::RobotState &	goal_state,
		planning_interface::MotionPlanRequest &	req
	)

Definition at line 516 of file test_utils.cpp.

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◆ demangle()

std::string testutils::demangle ( const char * name )

inline

Definition at line 91 of file test_utils.h.

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◆ fromEuler()

geometry_msgs::msg::Quaternion testutils::fromEuler	(	double	a,
		double	b,
		double	c
	)

inline

Definition at line 378 of file test_utils.h.

◆ generateJointConstraint()

moveit_msgs::msg::Constraints testutils::generateJointConstraint	(	const std::vector< double > &	pos_list,
		const std::string &	joint_prefix = `testutils::JOINT_NAME_PREFIX`
	)

inline

Definition at line 129 of file test_utils.h.

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◆ generateJointState() [1/2]

sensor_msgs::msg::JointState testutils::generateJointState	(	const std::vector< double > &	pos,
		const std::string &	joint_prefix = `testutils::JOINT_NAME_PREFIX`
	)

inline

Definition at line 122 of file test_utils.h.

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◆ generateJointState() [2/2]

sensor_msgs::msg::JointState testutils::generateJointState	(	const std::vector< double > &	pos,
		const std::vector< double > &	vel,
		const std::string &	joint_prefix = `testutils::JOINT_NAME_PREFIX`
	)

inline

Definition at line 100 of file test_utils.h.

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◆ generateRequestMsgFromBlendTestData()

void testutils::generateRequestMsgFromBlendTestData	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const BlendTestData &	data,
		const std::string &	planner_id,
		const std::string &	group_name,
		const std::string &	link_name,
		moveit_msgs::msg::MotionSequenceRequest &	req_list
	)

Definition at line 1199 of file test_utils.cpp.

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◆ generateTrajFromBlendTestData()

bool testutils::generateTrajFromBlendTestData	(	const planning_scene::PlanningSceneConstPtr &	scene,
		const std::shared_ptr< pilz_industrial_motion_planner::TrajectoryGenerator > &	tg,
		const std::string &	group_name,
		const std::string &	link_name,
		const BlendTestData &	data,
		double	sampling_time_1,
		double	sampling_time_2,
		planning_interface::MotionPlanResponse &	res_lin_1,
		planning_interface::MotionPlanResponse &	res_lin_2,
		double &	dis_lin_1,
		double &	dis_lin_2
	)

generate two LIN trajectories from test data set

Parameters

	data	contains joint poisitons of start/mid/end states
	sampling_time_1	sampling time for first LIN
	sampling_time_2	sampling time for second LIN
[out]	res_lin_1	result of the first LIN motion planning
[out]	res_lin_2	result of the second LIN motion planning
[out]	dis_lin_1	translational distance of the first LIN
[out]	dis_lin_2	translational distance of the second LIN

Returns: true if succeed

Definition at line 1052 of file test_utils.cpp.

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◆ getBlendTestData()

bool testutils::getBlendTestData	(	const rclcpp::Node::SharedPtr &	node,
		const size_t &	dataset_num,
		const std::string &	name_prefix,
		std::vector< BlendTestData > &	datasets
	)

fetch test datasets from node parameters

Parameters

nh

Returns

◆ getExpectedGoalPose()

bool testutils::getExpectedGoalPose	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const planning_interface::MotionPlanRequest &	req,
		std::string &	link_name,
		Eigen::Isometry3d &	goal_pose_expect
	)

Determines the goal position from the given request. TRUE if successful, FALSE otherwise.

Definition at line 71 of file test_utils.cpp.

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◆ getJointName()

std::string testutils::getJointName	(	size_t	joint_number,
		const std::string &	joint_prefix
	)

inline

Definition at line 80 of file test_utils.h.

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◆ getLinLinPosesWithoutOriChange()

void testutils::getLinLinPosesWithoutOriChange	(	const std::string &	frame_id,
		sensor_msgs::msg::JointState &	initialJointState,
		geometry_msgs::msg::PoseStamped &	p1,
		geometry_msgs::msg::PoseStamped &	p2
	)

Returns an initial joint state and two poses which can be used to perform a Lin-Lin movement.

Parameters

frame_id
initialJointState	As cartesian position: (0.3, 0, 0.65, 0, 0, 0)
p1	(0.05, 0, 0.65, 0, 0, 0)
p2	(0.05, 0.4, 0.65, 0, 0, 0)

Definition at line 964 of file test_utils.cpp.

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◆ getOriChange()

void testutils::getOriChange	(	Eigen::Matrix3d &	ori1,
		Eigen::Matrix3d &	ori2
	)

Definition at line 984 of file test_utils.cpp.

◆ getWayPointIndex()

int testutils::getWayPointIndex	(	const robot_trajectory::RobotTrajectoryPtr &	trajectory,
		const double	time_from_start
	)

inline

get the waypoint index from time from start

Parameters

trajectory
time_from_start

Returns

Definition at line 229 of file test_utils.h.

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◆ hasStrictlyIncreasingTime()

testing::AssertionResult testutils::hasStrictlyIncreasingTime ( const robot_trajectory::RobotTrajectoryPtr & trajectory )

Checks that every waypoint in the trajectory has a non-zero duration between itself and its predecessor.

Usage in tests:

EXPECT_TRUE(HasStrictlyIncreasingTime(trajectory));

Definition at line 487 of file test_utils.cpp.

◆ hasTrapezoidVelocity()

testing::AssertionResult testutils::hasTrapezoidVelocity	(	std::vector< double >	accelerations,
		const double	acc_tol
	)

Check that a given vector of accelerations represents a trapezoid velocity profile.

Parameters

acc_tol tolerance for comparing acceleration values

Definition at line 1271 of file test_utils.cpp.

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◆ isAccelerationBounded()

bool testutils::isAccelerationBounded	(	const trajectory_msgs::msg::JointTrajectory &	trajectory,
		const pilz_industrial_motion_planner::JointLimitsContainer &	joint_limits
	)

is Acceleration Bounded

Parameters

trajectory
joint_limits

Returns

Definition at line 393 of file test_utils.cpp.

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◆ isGoalReached() [1/3]

bool testutils::isGoalReached	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const trajectory_msgs::msg::JointTrajectory &	trajectory,
		const planning_interface::MotionPlanRequest &	req,
		const double	pos_tolerance,
		const double	orientation_tolerance
	)

check if the goal given in cartesian space is reached Only the last point in the trajectory is verified.

Parameters

robot_model
trajectory
req
matrix_norm_tolerance	used to compare the transformation matrix
joint_velocity_tolerance

Returns

Definition at line 153 of file test_utils.cpp.

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◆ isGoalReached() [2/3]

bool testutils::isGoalReached	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const trajectory_msgs::msg::JointTrajectory &	trajectory,
		const planning_interface::MotionPlanRequest &	req,
		const double	tolerance
	)

Definition at line 215 of file test_utils.cpp.

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◆ isGoalReached() [3/3]

bool testutils::isGoalReached	(	const trajectory_msgs::msg::JointTrajectory &	trajectory,
		const std::vector< moveit_msgs::msg::JointConstraint > &	goal,
		const double	joint_position_tolerance,
		const double	joint_velocity_tolerance = `1.0e-6`
	)

check if the goal given in joint space is reached Only the last point in the trajectory is verified.

Parameters

trajectory	generated trajectory
goal	goal in joint space
joint_position_tolerance
joint_velocity_tolerance

Returns: true if satisfied

Definition at line 118 of file test_utils.cpp.

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◆ isMonotonouslyDecreasing()

bool testutils::isMonotonouslyDecreasing	(	const std::vector< double > &	vec,
		double	tol
	)

inline

Definition at line 477 of file test_utils.h.

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◆ isPositionBounded()

bool testutils::isPositionBounded	(	const trajectory_msgs::msg::JointTrajectory &	trajectory,
		const pilz_industrial_motion_planner::JointLimitsContainer &	joint_limits
	)

is Position Bounded

Parameters

trajectory
joint_limits

Returns

Definition at line 435 of file test_utils.cpp.

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◆ isTrajectoryConsistent()

bool testutils::isTrajectoryConsistent ( const trajectory_msgs::msg::JointTrajectory & trajectory )

check if the sizes of the joint position/veloicty/acceleration are correct

Parameters

trajectory

Returns

Definition at line 376 of file test_utils.cpp.

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◆ isVelocityBounded()

bool testutils::isVelocityBounded	(	const trajectory_msgs::msg::JointTrajectory &	trajectory,
		const pilz_industrial_motion_planner::JointLimitsContainer &	joint_limits
	)

is Velocity Bounded

Parameters

trajectory
joint_limits

Returns

Definition at line 353 of file test_utils.cpp.

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◆ JOINT_NAME_PREFIX()

const std::string testutils::JOINT_NAME_PREFIX ( "prbt_joint_" )

◆ toTCPPose()

bool testutils::toTCPPose	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const std::string &	link_name,
		const std::vector< double > &	joint_values,
		geometry_msgs::msg::Pose &	pose,
		const std::string &	joint_prefix = `testutils::JOINT_NAME_PREFIX`
	)

compute the tcp pose from joint values

Parameters

robot_model
link_name
joint_values
pose
joint_prefix	Prefix of the joint names

Returns: false if forward kinematics failed

Definition at line 531 of file test_utils.cpp.

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Classes

Functions

Function Documentation

◆ checkBlendingCartSpaceContinuity()

◆ checkBlendingJointSpaceContinuity()

◆ checkBlendResult()

◆ checkCartesianLinearity()

◆ checkCartesianRotationalPath()

◆ checkCartesianTranslationalPath()

◆ checkJointTrajectory()

◆ checkOriginalTrajectoryAfterBlending()

◆ checkRobotModel()

◆ checkSLERP()

◆ checkThatPointsInRadius()

◆ computeCartVelocity()

◆ computeLinkFK()

◆ createDummyRequest()

◆ createFakeCartTraj()

◆ createFakeLimits()

◆ createPTPRequest()

◆ demangle()

◆ fromEuler()

◆ generateJointConstraint()

◆ generateJointState() [1/2]

◆ generateJointState() [2/2]

◆ generateRequestMsgFromBlendTestData()

◆ generateTrajFromBlendTestData()

◆ getBlendTestData()

◆ getExpectedGoalPose()

◆ getJointName()

◆ getLinLinPosesWithoutOriChange()

◆ getOriChange()

◆ getWayPointIndex()

◆ hasStrictlyIncreasingTime()

◆ hasTrapezoidVelocity()

◆ isAccelerationBounded()

◆ isGoalReached() [1/3]

◆ isGoalReached() [2/3]

◆ isGoalReached() [3/3]

◆ isMonotonouslyDecreasing()

◆ isPositionBounded()

◆ isTrajectoryConsistent()

◆ isVelocityBounded()

◆ JOINT_NAME_PREFIX()

◆ toTCPPose()