moveit2
The MoveIt Motion Planning Framework for ROS 2.
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#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>
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 | 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. | |
rclcpp::Logger getLogger | ( | ) |
Definition at line 59 of file test_constrained_state_validity_checker.cpp.
int main | ( | int | argc, |
char ** | argv | ||
) |
Definition at line 322 of file test_constrained_state_validity_checker.cpp.
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 | ( | FanucTestStateValidityChecker | , |
createStateValidityChecker | |||
) |
Definition at line 299 of file test_constrained_state_validity_checker.cpp.
TEST_F | ( | FanucTestStateValidityChecker | , |
testJointLimits | |||
) |
Definition at line 304 of file test_constrained_state_validity_checker.cpp.
TEST_F | ( | FanucTestStateValidityChecker | , |
testSelfCollision | |||
) |
Definition at line 310 of file test_constrained_state_validity_checker.cpp.
TEST_F | ( | PandaValidityCheckerTests | , |
testConstructor | |||
) |
Definition at line 269 of file test_constrained_state_validity_checker.cpp.
TEST_F | ( | PandaValidityCheckerTests | , |
testJointLimits | |||
) |
Definition at line 274 of file test_constrained_state_validity_checker.cpp.
TEST_F | ( | PandaValidityCheckerTests | , |
testSelfCollision | |||
) |
Definition at line 281 of file test_constrained_state_validity_checker.cpp.
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constexpr |
This flag sets the verbosity level for the state validity checker.
Definition at line 57 of file test_constrained_state_validity_checker.cpp.