#include <rclcpp/executors/single_threaded_executor.hpp>
#include <rclcpp/rclcpp.hpp>
#include <moveit/robot_state/conversions.hpp>
#include <moveit/robot_state/robot_state.hpp>
#include <moveit/trajectory_cache/trajectory_cache.hpp>
#include <moveit/trajectory_cache/utils/utils.hpp>
#include <atomic>
#include <thread>

Include dependency graph for test_trajectory_cache.cpp:

Classes
class	MoveGroupInterface
	Client class to conveniently use the ROS interfaces provided by the move_group node. More...
class	TrajectoryCache
	Trajectory Cache manager for MoveIt. More...

Functions
void	checkAndEmit (bool predicate, const std::string &test_case, const std::string &label)
moveit_msgs::msg::RobotTrajectory	getDummyPandaTraj ()
std::vector< geometry_msgs::msg::Pose >	getDummyWaypoints ()
void	testGettersAndSetters (const std::shared_ptr< TrajectoryCache > &cache)
void	testMotionTrajectories (const std::shared_ptr< MoveGroupInterface > &move_group, const std::shared_ptr< TrajectoryCache > &cache)
void	testCartesianTrajectories (const std::shared_ptr< MoveGroupInterface > &move_group, const std::shared_ptr< TrajectoryCache > &cache)
int	main (int argc, char **argv)
moveit_msgs::srv::GetCartesianPath::Request	constructGetCartesianPathRequest (moveit::planning_interface::MoveGroupInterface &move_group, const std::vector< geometry_msgs::msg::Pose > &waypoints, double max_step, double jump_threshold, bool avoid_collisions=true)
	Constructs a GetCartesianPath request.

Variables
const std::string	ROBOT_NAME = "panda"
const std::string	ROBOT_FRAME = "world"

Detailed Description

Author: methylDragon

Definition in file test_trajectory_cache.cpp.

Function Documentation

◆ checkAndEmit()

void checkAndEmit	(	bool	predicate,
		const std::string &	test_case,
		const std::string &	label )

Definition at line 39 of file test_trajectory_cache.cpp.

Here is the caller graph for this function:

◆ constructGetCartesianPathRequest()

GetCartesianPath::Request moveit_ros::trajectory_cache::constructGetCartesianPathRequest	(	moveit::planning_interface::MoveGroupInterface &	move_group,
		const std::vector< geometry_msgs::msg::Pose > &	waypoints,
		double	max_step,
		double	jump_threshold,
		bool	avoid_collisions = true )

Constructs a GetCartesianPath request.

This is a convenience function. This mimics the move group computeCartesianPath signature (without path constraints).

WARNING: The following fields are not supported, if you want to specify them, add them in yourself.

prismatic_jump_threshold
revolute_jump_threshold
cartesian_speed_limited_link
max_cartesian_speed

Parameters

[in]	move_group.	The manipulator move group, used to get its state, frames, and link.
[in]	waypoints.	The cartesian waypoints to request the path for.
[in]	max_step.	The value to populate into the GetCartesianPath request's max_step field.
[in]	jump_threshold.	The value to populate into the GetCartesianPath request's jump_threshold field.
[in]	avoid_collisions.	The value to populate into the GetCartesianPath request's avoid_collisions field.