43 #include <gtest/gtest.h>
57 SCOPED_TRACE(
"testConstruction");
69 for (
const auto& joint_name :
robot_state_->getVariableNames())
71 const auto expected_value =
robot_state_->getVariablePosition(joint_name);
72 const auto actual_value = robot_state_stored->getVariablePosition(joint_name);
73 EXPECT_EQ(actual_value, expected_value) <<
"Expecting joint value for " << joint_name <<
" to match.";
96 testReadback({ 0., -0.785, 0., -2.356, 0., 1.571, 0.785 });
112 testReadback({ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 });
118 int main(
int argc,
char** argv)
120 testing::InitGoogleTest(&argc, argv);
121 return RUN_ALL_TESTS();
Generic implementation of the tests that can be executed on different robots.
void testReadback(const std::vector< double > &position_in_limits)
TestThreadSafeStateStorage(const std::string &robot_name, const std::string &group_name)
moveit::core::RobotState * getStateStorage() const
Robot independent test class setup.
moveit::core::RobotStatePtr robot_state_
LoadTestRobot(const std::string &robot_name, const std::string &group_name)
const moveit::core::JointModelGroup * joint_model_group_
int main(int argc, char **argv)
TEST_F(PandaTest, testConstruction)