test_orientation_constraints.cpp File Reference

#include <moveit/kinematic_constraints/kinematic_constraint.h>
#include <gtest/gtest.h>
#include <urdf_parser/urdf_parser.h>
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include <math.h>
#include <moveit/utils/robot_model_test_utils.h>

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Classes
class	SphericalRobot
class	FloatingJointRobot

Functions
Eigen::Quaterniond	xyzIntrinsixToQuaternion (double rx, double ry, double rz)
Eigen::Quaterniond	rotationVectorToQuaternion (double rx, double ry, double rz)
void	setRobotEndEffectorOrientation (moveit::core::RobotState &robot_state, const Eigen::Quaterniond &quat)
	TEST_F (SphericalRobot, Test1)
	TEST_F (SphericalRobot, Test2)
	TEST_F (SphericalRobot, Test3)
	TEST_F (SphericalRobot, Test4)
	TEST_F (SphericalRobot, Test5)
	TEST_F (FloatingJointRobot, TestDefaultParameterization)
	TEST_F (FloatingJointRobot, OrientationConstraintsParameterization)
	TEST_F (FloatingJointRobot, ToleranceInRefFrame)
int	main (int argc, char **argv)

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 514 of file test_orientation_constraints.cpp.

rotationVectorToQuaternion()

Eigen::Quaterniond rotationVectorToQuaternion ( double  rx, double  ry, double  rz  )

inline

Helper function to create a quaternion from a rotation vector.

Definition at line 136 of file test_orientation_constraints.cpp.

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setRobotEndEffectorOrientation()

void setRobotEndEffectorOrientation	(	moveit::core::RobotState &	robot_state,
		const Eigen::Quaterniond &	quat
	)

Helper function to set the orientation of the robot end-effector for the FloatingJointRobot.

Definition at line 144 of file test_orientation_constraints.cpp.

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TEST_F() [1/8]

TEST_F	(	FloatingJointRobot	,
		OrientationConstraintsParameterization
	)

Definition at line 380 of file test_orientation_constraints.cpp.

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TEST_F() [2/8]

TEST_F	(	FloatingJointRobot	,
		TestDefaultParameterization
	)

Definition at line 352 of file test_orientation_constraints.cpp.

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TEST_F() [3/8]

TEST_F	(	FloatingJointRobot	,
		ToleranceInRefFrame
	)

Definition at line 478 of file test_orientation_constraints.cpp.

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TEST_F() [4/8]

TEST_F	(	SphericalRobot	,
		Test1
	)

Definition at line 152 of file test_orientation_constraints.cpp.

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TEST_F() [5/8]

TEST_F	(	SphericalRobot	,
		Test2
	)

Definition at line 179 of file test_orientation_constraints.cpp.

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TEST_F() [6/8]

TEST_F	(	SphericalRobot	,
		Test3
	)

Definition at line 224 of file test_orientation_constraints.cpp.

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TEST_F() [7/8]

TEST_F	(	SphericalRobot	,
		Test4
	)

Definition at line 272 of file test_orientation_constraints.cpp.

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TEST_F() [8/8]

TEST_F	(	SphericalRobot	,
		Test5
	)

Definition at line 326 of file test_orientation_constraints.cpp.

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xyzIntrinsixToQuaternion()

Eigen::Quaterniond xyzIntrinsixToQuaternion ( double  rx, double  ry, double  rz  )

inline

Helper function to create a quaternion from Euler angles.

Definition at line 129 of file test_orientation_constraints.cpp.

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