moveit2
The MoveIt Motion Planning Framework for ROS 2.
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#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"
Go to the source code of this file.
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) |
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.
int main | ( | int | argc, |
char ** | argv | ||
) |
Definition at line 340 of file test_constrained_planning_state_space.cpp.
TEST_F | ( | FanucCopyStateTest | , |
testCopyJointToOMPLState | |||
) |
Definition at line 301 of file test_constrained_planning_state_space.cpp.
TEST_F | ( | FanucCopyStateTest | , |
testCopyToOMPLState | |||
) |
Definition at line 296 of file test_constrained_planning_state_space.cpp.
TEST_F | ( | FanucCopyStateTest | , |
testCopyToRobotState | |||
) |
Definition at line 291 of file test_constrained_planning_state_space.cpp.
TEST_F | ( | FanucCopyStateTest | , |
testGetValueAddressAtIndex | |||
) |
Definition at line 286 of file test_constrained_planning_state_space.cpp.
TEST_F | ( | PandaCopyStateTest | , |
testCopyJointToOMPLState | |||
) |
Definition at line 270 of file test_constrained_planning_state_space.cpp.
TEST_F | ( | PandaCopyStateTest | , |
testCopyToOMPLState | |||
) |
Definition at line 265 of file test_constrained_planning_state_space.cpp.
TEST_F | ( | PandaCopyStateTest | , |
testCopyToRobotState | |||
) |
Definition at line 260 of file test_constrained_planning_state_space.cpp.
TEST_F | ( | PandaCopyStateTest | , |
testGetValueAddressAtIndex | |||
) |
Definition at line 255 of file test_constrained_planning_state_space.cpp.
TEST_F | ( | PR2CopyStateTest | , |
testCopyJointToOMPLState | |||
) |
Definition at line 332 of file test_constrained_planning_state_space.cpp.
TEST_F | ( | PR2CopyStateTest | , |
testCopyToOMPLState | |||
) |
Definition at line 327 of file test_constrained_planning_state_space.cpp.
TEST_F | ( | PR2CopyStateTest | , |
testCopyToRobotState | |||
) |
Definition at line 322 of file test_constrained_planning_state_space.cpp.
TEST_F | ( | PR2CopyStateTest | , |
testGetValueAddressAtIndex | |||
) |
Definition at line 317 of file test_constrained_planning_state_space.cpp.