#include "load_test_robot.h"
#include <limits>
#include <ostream>
#include <gtest/gtest.h>
#include <moveit/ompl_interface/detail/state_validity_checker.h>
#include <moveit/ompl_interface/model_based_planning_context.h>
#include <moveit/ompl_interface/parameterization/joint_space/constrained_planning_state_space.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/utils/logger.hpp>
#include <ompl/geometric/SimpleSetup.h>
#include <ompl/base/Constraint.h>
#include <ompl/base/ConstrainedSpaceInformation.h>
#include <ompl/base/spaces/constraint/ProjectedStateSpace.h>

Include dependency graph for test_constrained_state_validity_checker.cpp:

Classes
class	DummyConstraint
	Dummy constraint for testing, always satisfied. We need this to create and OMPL ConstrainedStateSpace. More...

class	TestStateValidityChecker
	Generic implementation of the tests that can be executed on different robots. More...

class	PandaValidityCheckerTests

class	FanucTestStateValidityChecker

Functions
rclcpp::Logger	getLogger ()

std::ostream &	operator<< (std::ostream &os, const std::vector< double > &v)
	Pretty print std:vectors. More...

	TEST_F (PandaValidityCheckerTests, testConstructor)

	TEST_F (PandaValidityCheckerTests, testJointLimits)

	TEST_F (PandaValidityCheckerTests, testSelfCollision)

	TEST_F (FanucTestStateValidityChecker, createStateValidityChecker)

	TEST_F (FanucTestStateValidityChecker, testJointLimits)

	TEST_F (FanucTestStateValidityChecker, testSelfCollision)

int	main (int argc, char **argv)

Variables
constexpr bool	VERBOSE = false
	This flag sets the verbosity level for the state validity checker. More...

Function Documentation

◆ getLogger()

rclcpp::Logger getLogger ( )

Definition at line 59 of file test_constrained_state_validity_checker.cpp.

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Here is the caller graph for this function:

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 322 of file test_constrained_state_validity_checker.cpp.

◆ operator<<()

std::ostream& operator<<	(	std::ostream &	os,
		const std::vector< double > &	v
	)

Pretty print std:vectors.

Definition at line 65 of file test_constrained_state_validity_checker.cpp.

◆ TEST_F() [1/6]

TEST_F	(	FanucTestStateValidityChecker	,
		createStateValidityChecker
	)

Definition at line 299 of file test_constrained_state_validity_checker.cpp.

◆ TEST_F() [2/6]

TEST_F	(	FanucTestStateValidityChecker	,
		testJointLimits
	)

Definition at line 304 of file test_constrained_state_validity_checker.cpp.

◆ TEST_F() [3/6]

TEST_F	(	FanucTestStateValidityChecker	,
		testSelfCollision
	)

Definition at line 310 of file test_constrained_state_validity_checker.cpp.

◆ TEST_F() [4/6]

TEST_F	(	PandaValidityCheckerTests	,
		testConstructor
	)

Definition at line 269 of file test_constrained_state_validity_checker.cpp.

◆ TEST_F() [5/6]

TEST_F	(	PandaValidityCheckerTests	,
		testJointLimits
	)

Definition at line 274 of file test_constrained_state_validity_checker.cpp.

◆ TEST_F() [6/6]

TEST_F	(	PandaValidityCheckerTests	,
		testSelfCollision
	)

Definition at line 281 of file test_constrained_state_validity_checker.cpp.

Variable Documentation

◆ VERBOSE

constexpr bool VERBOSE = false

constexpr

This flag sets the verbosity level for the state validity checker.

Definition at line 57 of file test_constrained_state_validity_checker.cpp.

Classes

Functions

Variables