test_kinematics_plugin.cpp File Reference

#include <gtest/gtest.h>
#include <memory>
#include <functional>
#include <pluginlib/class_loader.hpp>
#include <rclcpp/rclcpp.hpp>
#include <tf2_eigen/tf2_eigen.hpp>
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/rdf_loader/rdf_loader.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h>
#include <moveit/robot_state/conversions.h>
#include <moveit_msgs/msg/display_trajectory.hpp>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit/utils/robot_model_test_utils.h>
#include <moveit/utils/logger.hpp>

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Classes
class	SharedData
class	KinematicsTest

Macros
#define	EXPECT_NEAR_POSES(lhs, rhs, near)

Functions
rclcpp::Logger	getLogger ()
	TEST_F (KinematicsTest, getFK)
	TEST_F (KinematicsTest, randomWalkIK)
	TEST_F (KinematicsTest, unitIK)
	TEST_F (KinematicsTest, searchIK)
	TEST_F (KinematicsTest, searchIKWithCallback)
	TEST_F (KinematicsTest, getIK)
	TEST_F (KinematicsTest, getIKMultipleSolutions)
	TEST_F (KinematicsTest, getNearestIKSolution)
int	main (int argc, char **argv)

Variables
const std::string	ROBOT_DESCRIPTION_PARAM = "robot_description"
const double	DEFAULT_SEARCH_DISCRETIZATION = 0.01f
const double	EXPECTED_SUCCESS_RATE = 0.8

Macro Definition Documentation

EXPECT_NEAR_POSES

#define EXPECT_NEAR_POSES	(		lhs,
			rhs,
			near
	)

Value:

  SCOPED_TRACE("EXPECT_NEAR_POSES(" #lhs ", " #rhs ")");                                                               \
  GTEST_ASSERT_(expectNearHelper(#lhs, #rhs, #near, lhs, rhs, near), GTEST_NONFATAL_FAILURE_);

Definition at line 314 of file test_kinematics_plugin.cpp.

Function Documentation

getLogger()

rclcpp::Logger getLogger

(

)

Definition at line 59 of file test_kinematics_plugin.cpp.

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main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 766 of file test_kinematics_plugin.cpp.

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TEST_F() [1/8]

TEST_F	(	KinematicsTest	,
		getFK
	)

Definition at line 318 of file test_kinematics_plugin.cpp.

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TEST_F() [2/8]

TEST_F	(	KinematicsTest	,
		getIK
	)

Definition at line 634 of file test_kinematics_plugin.cpp.

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TEST_F() [3/8]

TEST_F	(	KinematicsTest	,
		getIKMultipleSolutions
	)

Definition at line 661 of file test_kinematics_plugin.cpp.

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TEST_F() [4/8]

TEST_F	(	KinematicsTest	,
		getNearestIKSolution
	)

Definition at line 710 of file test_kinematics_plugin.cpp.

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TEST_F() [5/8]

TEST_F	(	KinematicsTest	,
		randomWalkIK
	)

Definition at line 342 of file test_kinematics_plugin.cpp.

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TEST_F() [6/8]

TEST_F	(	KinematicsTest	,
		searchIK
	)

Definition at line 543 of file test_kinematics_plugin.cpp.

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TEST_F() [7/8]

TEST_F	(	KinematicsTest	,
		searchIKWithCallback
	)

Definition at line 584 of file test_kinematics_plugin.cpp.

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TEST_F() [8/8]

TEST_F	(	KinematicsTest	,
		unitIK
	)

Definition at line 435 of file test_kinematics_plugin.cpp.

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Variable Documentation

DEFAULT_SEARCH_DISCRETIZATION

const double DEFAULT_SEARCH_DISCRETIZATION = 0.01f

Definition at line 64 of file test_kinematics_plugin.cpp.

EXPECTED_SUCCESS_RATE

const double EXPECTED_SUCCESS_RATE = 0.8

Definition at line 65 of file test_kinematics_plugin.cpp.

ROBOT_DESCRIPTION_PARAM

const std::string ROBOT_DESCRIPTION_PARAM = "robot_description"

Definition at line 63 of file test_kinematics_plugin.cpp.