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The MoveIt Motion Planning Framework for ROS 2.
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test_constrained_state_validity_checker.cpp File Reference
#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:

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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.
 
 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.
 

Function Documentation

◆ getLogger()

rclcpp::Logger getLogger ( )

Definition at line 59 of file test_constrained_state_validity_checker.cpp.

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◆ 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.