test_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/joint_model_state_space.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/utils/logger.hpp>
#include <ompl/geometric/SimpleSetup.h>

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

Functions
rclcpp::Logger	getLogger ()
std::ostream &	operator<< (std::ostream &os, const std::vector< double > &v)
	Pretty print std:vectors. More...
	TEST_F (PandaValidity, testConstructor)
	TEST_F (PandaValidity, testJointLimits)
	TEST_F (PandaValidity, testSelfCollision)
	TEST_F (PandaValidity, testPathConstraints)
	TEST_F (FanucTest, createStateValidityChecker)
	TEST_F (FanucTest, testJointLimits)
	TEST_F (FanucTest, testSelfCollision)
	TEST_F (FanucTest, testPathConstraints)
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 69 of file test_state_validity_checker.cpp.

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main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 337 of file test_state_validity_checker.cpp.

operator<<()

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

Pretty print std:vectors.

Definition at line 75 of file test_state_validity_checker.cpp.

TEST_F() [1/8]

TEST_F	(	FanucTest	,
		createStateValidityChecker
	)

Definition at line 310 of file test_state_validity_checker.cpp.

TEST_F() [2/8]

TEST_F	(	FanucTest	,
		testJointLimits
	)

Definition at line 315 of file test_state_validity_checker.cpp.

TEST_F() [3/8]

TEST_F	(	FanucTest	,
		testPathConstraints
	)

Definition at line 328 of file test_state_validity_checker.cpp.

TEST_F() [4/8]

TEST_F	(	FanucTest	,
		testSelfCollision
	)

Definition at line 321 of file test_state_validity_checker.cpp.

TEST_F() [5/8]

TEST_F	(	PandaValidity	,
		testConstructor
	)

Definition at line 273 of file test_state_validity_checker.cpp.

TEST_F() [6/8]

TEST_F	(	PandaValidity	,
		testJointLimits
	)

Definition at line 278 of file test_state_validity_checker.cpp.

TEST_F() [7/8]

TEST_F	(	PandaValidity	,
		testPathConstraints
	)

Definition at line 292 of file test_state_validity_checker.cpp.

TEST_F() [8/8]

TEST_F	(	PandaValidity	,
		testSelfCollision
	)

Definition at line 285 of file test_state_validity_checker.cpp.

Variable Documentation

VERBOSE

constexpr bool VERBOSE = false

constexpr

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

This test checks the basics of a StateValidityChecker:

• Can we create one?
• States inside and outside joint limits.
• States that are in self-collision.
• Position constraints on the robot's end-effector link.

It does not yet test:

• Collision with objects in the environment.
• Orientation constraints, visibility constraints, ...
• A user-specified feasibility function in the planning scene.

The test do show what is minimally required to create a working StateValidityChecker.

Definition at line 67 of file test_state_validity_checker.cpp.