moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Classes | Functions
test_constrained_planning_state_space.cpp File Reference
#include <memory>
#include <string>
#include <iostream>
#include <gtest/gtest.h>
#include <Eigen/Dense>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/utils/robot_model_test_utils.h>
#include <moveit/ompl_interface/parameterization/joint_space/constrained_planning_state_space.h>
#include <moveit_msgs/msg/constraints.hpp>
#include <moveit/utils/logger.hpp>
#include <ompl/util/Exception.h>
#include <ompl/base/spaces/RealVectorStateSpace.h>
#include <ompl/base/spaces/constraint/ProjectedStateSpace.h>
#include "load_test_robot.h"
Include dependency graph for test_constrained_planning_state_space.cpp:

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Classes

class  DummyConstraint
 Dummy constraint for testing, always satisfied. We need this to create and OMPL ConstrainedStateSpace. More...
 
class  TestConstrainedStateSpace
 Robot independent implementation of the tests.
More...
 
class  PandaCopyStateTest
 
class  FanucCopyStateTest
 
class  PR2CopyStateTest
 

Functions

rclcpp::Logger getLogger ()
 
 TEST_F (PandaCopyStateTest, testGetValueAddressAtIndex)
 
 TEST_F (PandaCopyStateTest, testCopyToRobotState)
 
 TEST_F (PandaCopyStateTest, testCopyToOMPLState)
 
 TEST_F (PandaCopyStateTest, testCopyJointToOMPLState)
 
 TEST_F (FanucCopyStateTest, testGetValueAddressAtIndex)
 
 TEST_F (FanucCopyStateTest, testCopyToRobotState)
 
 TEST_F (FanucCopyStateTest, testCopyToOMPLState)
 
 TEST_F (FanucCopyStateTest, testCopyJointToOMPLState)
 
 TEST_F (PR2CopyStateTest, testGetValueAddressAtIndex)
 
 TEST_F (PR2CopyStateTest, testCopyToRobotState)
 
 TEST_F (PR2CopyStateTest, testCopyToOMPLState)
 
 TEST_F (PR2CopyStateTest, testCopyJointToOMPLState)
 
int main (int argc, char **argv)
 

Function Documentation

◆ getLogger()

rclcpp::Logger getLogger ( )

This file checks if the ConstrainedPlanningStateSpace can properly copy OMPL States of type ompl::base::ConstrainedStateSpace::StateType into MoveIt's robot state.

Definition at line 62 of file test_constrained_planning_state_space.cpp.

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◆ main()

int main ( int  argc,
char **  argv 
)

Definition at line 340 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [1/12]

TEST_F ( FanucCopyStateTest  ,
testCopyJointToOMPLState   
)

Definition at line 301 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [2/12]

TEST_F ( FanucCopyStateTest  ,
testCopyToOMPLState   
)

Definition at line 296 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [3/12]

TEST_F ( FanucCopyStateTest  ,
testCopyToRobotState   
)

Definition at line 291 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [4/12]

TEST_F ( FanucCopyStateTest  ,
testGetValueAddressAtIndex   
)

Definition at line 286 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [5/12]

TEST_F ( PandaCopyStateTest  ,
testCopyJointToOMPLState   
)

Definition at line 270 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [6/12]

TEST_F ( PandaCopyStateTest  ,
testCopyToOMPLState   
)

Definition at line 265 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [7/12]

TEST_F ( PandaCopyStateTest  ,
testCopyToRobotState   
)

Definition at line 260 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [8/12]

TEST_F ( PandaCopyStateTest  ,
testGetValueAddressAtIndex   
)

Definition at line 255 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [9/12]

TEST_F ( PR2CopyStateTest  ,
testCopyJointToOMPLState   
)

Definition at line 332 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [10/12]

TEST_F ( PR2CopyStateTest  ,
testCopyToOMPLState   
)

Definition at line 327 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [11/12]

TEST_F ( PR2CopyStateTest  ,
testCopyToRobotState   
)

Definition at line 322 of file test_constrained_planning_state_space.cpp.

◆ TEST_F() [12/12]

TEST_F ( PR2CopyStateTest  ,
testGetValueAddressAtIndex   
)

Definition at line 317 of file test_constrained_planning_state_space.cpp.