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"

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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.