subframes_test.cpp File Reference

#include <vector>
#include <map>
#include <ros/ros.h>
#include <gtest/gtest.h>
#include <moveit/planning_scene_interface/planning_scene_interface.hpp>
#include <moveit/planning_scene_monitor/planning_scene_monitor.hpp>
#include <moveit/move_group_interface/move_group_interface.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include <tf2_eigen/tf2_eigen.hpp>

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Functions
bool	moveToCartPose (const geometry_msgs::PoseStamped &pose, moveit::planning_interface::MoveGroupInterface &group, const std::string &end_effector_link)
bool	moveCartesianPath (const geometry_msgs::PoseStamped &pose, moveit::planning_interface::MoveGroupInterface &group, const std::string &end_effector_link)
void	spawnCollisionObjects (moveit::planning_interface::PlanningSceneInterface &planning_scene_interface)
	TEST (TestPlanUsingSubframes, SubframesTests)
	TEST (TestPlanUsingSubframes, SubframesCartesianPathTests)
int	main (int argc, char **argv)

Variables
constexpr double	EPSILON = 1e-2
constexpr double	Z_OFFSET = 0.05
constexpr double	PLANNING_TIME_S = 30.0
const double	TAU = 2 * M_PI

Function Documentation

main()

int main	(	int	argc,
		char **	argv )

Definition at line 297 of file subframes_test.cpp.

moveCartesianPath()

bool moveCartesianPath	(	const geometry_msgs::PoseStamped &	pose,
		moveit::planning_interface::MoveGroupInterface &	group,
		const std::string &	end_effector_link )

Definition at line 88 of file subframes_test.cpp.

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moveToCartPose()

bool moveToCartPose	(	const geometry_msgs::PoseStamped &	pose,
		moveit::planning_interface::MoveGroupInterface &	group,
		const std::string &	end_effector_link )

Definition at line 69 of file subframes_test.cpp.

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spawnCollisionObjects()

void spawnCollisionObjects

(

moveit::planning_interface::PlanningSceneInterface &

planning_scene_interface

)

Definition at line 127 of file subframes_test.cpp.

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TEST() [1/2]

TEST	(	TestPlanUsingSubframes	,
		SubframesCartesianPathTests	)

Definition at line 248 of file subframes_test.cpp.

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TEST() [2/2]

TEST	(	TestPlanUsingSubframes	,
		SubframesTests	)

Definition at line 185 of file subframes_test.cpp.

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Variable Documentation

EPSILON

double EPSILON = 1e-2

constexpr

Definition at line 61 of file subframes_test.cpp.

PLANNING_TIME_S

double PLANNING_TIME_S = 30.0

constexpr

Definition at line 63 of file subframes_test.cpp.

TAU

const double TAU = 2 * M_PI

Definition at line 65 of file subframes_test.cpp.

Z_OFFSET

double Z_OFFSET = 0.05

constexpr

Definition at line 62 of file subframes_test.cpp.