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| const std::string | testutils::JOINT_NAME_PREFIX ("prbt_joint_") |
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| std::string | testutils::getJointName (size_t joint_number, const std::string &joint_prefix) |
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| pilz_industrial_motion_planner::JointLimitsContainer | testutils::createFakeLimits (const std::vector< std::string > &joint_names) |
| | Create limits for tests to avoid the need to get the limits from the node parameter.
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| std::string | testutils::demangle (const char *name) |
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| sensor_msgs::msg::JointState | testutils::generateJointState (const std::vector< double > &pos, const std::vector< double > &vel, const std::string &joint_prefix=testutils::JOINT_NAME_PREFIX) |
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| sensor_msgs::msg::JointState | testutils::generateJointState (const std::vector< double > &pos, const std::string &joint_prefix=testutils::JOINT_NAME_PREFIX) |
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| moveit_msgs::msg::Constraints | testutils::generateJointConstraint (const std::vector< double > &pos_list, const std::string &joint_prefix=testutils::JOINT_NAME_PREFIX) |
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| bool | testutils::getExpectedGoalPose (const moveit::core::RobotModelConstPtr &robot_model, const planning_interface::MotionPlanRequest &req, std::string &link_name, Eigen::Isometry3d &goal_pose_expect) |
| | Determines the goal position from the given request. TRUE if successful, FALSE otherwise.
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| void | testutils::createDummyRequest (const moveit::core::RobotModelConstPtr &robot_model, const std::string &planning_group, planning_interface::MotionPlanRequest &req) |
| | create a dummy motion plan request with zero start state No goal constraint is given.
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| void | testutils::createPTPRequest (const std::string &planning_group, const moveit::core::RobotState &start_state, const moveit::core::RobotState &goal_state, planning_interface::MotionPlanRequest &req) |
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| bool | testutils::isGoalReached (const trajectory_msgs::msg::JointTrajectory &trajectory, const std::vector< moveit_msgs::msg::JointConstraint > &goal, const double joint_position_tolerance, const double joint_velocity_tolerance=1.0e-6) |
| | check if the goal given in joint space is reached Only the last point in the trajectory is verified.
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| bool | testutils::isGoalReached (const moveit::core::RobotModelConstPtr &robot_model, const trajectory_msgs::msg::JointTrajectory &trajectory, const planning_interface::MotionPlanRequest &req, const double pos_tolerance, const double orientation_tolerance) |
| | check if the goal given in cartesian space is reached Only the last point in the trajectory is verified.
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| bool | testutils::isGoalReached (const moveit::core::RobotModelConstPtr &robot_model, const trajectory_msgs::msg::JointTrajectory &trajectory, const planning_interface::MotionPlanRequest &req, const double tolerance) |
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| bool | testutils::checkCartesianLinearity (const moveit::core::RobotModelConstPtr &robot_model, const trajectory_msgs::msg::JointTrajectory &trajectory, const planning_interface::MotionPlanRequest &req, const double translation_norm_tolerance, const double rot_axis_norm_tolerance, const double rot_angle_tolerance=10e-5) |
| | Check that given trajectory is straight line.
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| bool | testutils::checkSLERP (const Eigen::Isometry3d &start_pose, const Eigen::Isometry3d &goal_pose, const Eigen::Isometry3d &wp_pose, const double rot_axis_norm_tolerance, const double rot_angle_tolerance=10e-5) |
| | check SLERP. The orientation should rotate around the same axis linearly.
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| int | testutils::getWayPointIndex (const robot_trajectory::RobotTrajectoryPtr &trajectory, const double time_from_start) |
| | get the waypoint index from time from start
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| bool | testutils::checkJointTrajectory (const trajectory_msgs::msg::JointTrajectory &trajectory, const pilz_industrial_motion_planner::JointLimitsContainer &joint_limits) |
| | check joint trajectory of consistency, position, velocity and acceleration limits
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| ::testing::AssertionResult | testutils::hasStrictlyIncreasingTime (const robot_trajectory::RobotTrajectoryPtr &trajectory) |
| | Checks that every waypoint in the trajectory has a non-zero duration between itself and its predecessor.
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| bool | testutils::isTrajectoryConsistent (const trajectory_msgs::msg::JointTrajectory &trajectory) |
| | check if the sizes of the joint position/veloicty/acceleration are correct
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| bool | testutils::isPositionBounded (const trajectory_msgs::msg::JointTrajectory &trajectory, const pilz_industrial_motion_planner::JointLimitsContainer &joint_limits) |
| | is Position Bounded
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| bool | testutils::isVelocityBounded (const trajectory_msgs::msg::JointTrajectory &trajectory, const pilz_industrial_motion_planner::JointLimitsContainer &joint_limits) |
| | is Velocity Bounded
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| bool | testutils::isAccelerationBounded (const trajectory_msgs::msg::JointTrajectory &trajectory, const pilz_industrial_motion_planner::JointLimitsContainer &joint_limits) |
| | is Acceleration Bounded
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| bool | testutils::toTCPPose (const moveit::core::RobotModelConstPtr &robot_model, const std::string &link_name, const std::vector< double > &joint_values, geometry_msgs::msg::Pose &pose, const std::string &joint_prefix=testutils::JOINT_NAME_PREFIX) |
| | compute the tcp pose from joint values
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| bool | testutils::computeLinkFK (const moveit::core::RobotModelConstPtr &robot_model, const std::string &link_name, const std::map< std::string, double > &joint_state, Eigen::Isometry3d &pose) |
| | computeLinkFK
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| bool | testutils::checkOriginalTrajectoryAfterBlending (const pilz_industrial_motion_planner::TrajectoryBlendRequest &req, const pilz_industrial_motion_planner::TrajectoryBlendResponse &res, const double time_tolerance) |
| | checkOriginalTrajectoryAfterBlending
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| bool | testutils::checkBlendingJointSpaceContinuity (const pilz_industrial_motion_planner::TrajectoryBlendResponse &res, double joint_velocity_tolerance, double joint_accleration_tolerance) |
| | check the blending result, if the joint space continuity is fulfilled
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| bool | testutils::checkBlendingCartSpaceContinuity (const pilz_industrial_motion_planner::TrajectoryBlendRequest &req, const pilz_industrial_motion_planner::TrajectoryBlendResponse &res, const pilz_industrial_motion_planner::LimitsContainer &planner_limits) |
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| bool | testutils::checkThatPointsInRadius (const std::string &link_name, double r, Eigen::Isometry3d &circ_pose, const pilz_industrial_motion_planner::TrajectoryBlendResponse &res) |
| | Checks if all points of the blending trajectory lie within the blending radius.
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| void | testutils::computeCartVelocity (const Eigen::Isometry3d &pose_1, const Eigen::Isometry3d &pose_2, double duration, Eigen::Vector3d &v, Eigen::Vector3d &w) |
| | compute Cartesian velocity
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| void | testutils::getLinLinPosesWithoutOriChange (const std::string &frame_id, sensor_msgs::msg::JointState &initialJointState, geometry_msgs::msg::PoseStamped &p1, geometry_msgs::msg::PoseStamped &p2) |
| | Returns an initial joint state and two poses which can be used to perform a Lin-Lin movement.
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| void | testutils::getOriChange (Eigen::Matrix3d &ori1, Eigen::Matrix3d &ori2) |
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| void | testutils::createFakeCartTraj (const robot_trajectory::RobotTrajectoryPtr &traj, const std::string &link_name, moveit_msgs::msg::RobotTrajectory &fake_traj) |
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| geometry_msgs::msg::Quaternion | testutils::fromEuler (double a, double b, double c) |
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| bool | testutils::getBlendTestData (const rclcpp::Node::SharedPtr &node, const size_t &dataset_num, const std::string &name_prefix, std::vector< BlendTestData > &datasets) |
| | fetch test datasets from node parameters
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| bool | testutils::checkBlendResult (const pilz_industrial_motion_planner::TrajectoryBlendRequest &blend_req, const pilz_industrial_motion_planner::TrajectoryBlendResponse &blend_res, const pilz_industrial_motion_planner::LimitsContainer &limits, double joint_velocity_tolerance, double joint_acceleration_tolerance, double cartesian_velocity_tolerance, double cartesian_angular_velocity_tolerance) |
| | check the blending result of lin-lin
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| bool | testutils::generateTrajFromBlendTestData (const planning_scene::PlanningSceneConstPtr &scene, const std::shared_ptr< pilz_industrial_motion_planner::TrajectoryGenerator > &tg, const std::string &group_name, const std::string &link_name, const BlendTestData &data, double sampling_time_1, double sampling_time_2, planning_interface::MotionPlanResponse &res_lin_1, planning_interface::MotionPlanResponse &res_lin_2, double &dis_lin_1, double &dis_lin_2) |
| | generate two LIN trajectories from test data set
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| void | testutils::generateRequestMsgFromBlendTestData (const moveit::core::RobotModelConstPtr &robot_model, const BlendTestData &data, const std::string &planner_id, const std::string &group_name, const std::string &link_name, moveit_msgs::msg::MotionSequenceRequest &req_list) |
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| void | testutils::checkRobotModel (const moveit::core::RobotModelConstPtr &robot_model, const std::string &group_name, const std::string &link_name) |
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| ::testing::AssertionResult | testutils::hasTrapezoidVelocity (std::vector< double > accelerations, const double acc_tol) |
| | Check that a given vector of accelerations represents a trapezoid velocity profile.
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| ::testing::AssertionResult | testutils::checkCartesianTranslationalPath (const robot_trajectory::RobotTrajectoryConstPtr &trajectory, const std::string &link_name, const double acc_tol=DEFAULT_ACCELERATION_EQUALITY_TOLERANCE) |
| | Check that the translational path of a given trajectory has a trapezoid velocity profile.
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| ::testing::AssertionResult | testutils::checkCartesianRotationalPath (const robot_trajectory::RobotTrajectoryConstPtr &trajectory, const std::string &link_name, const double rot_axis_tol=DEFAULT_ROTATION_AXIS_EQUALITY_TOLERANCE, const double acc_tol=DEFAULT_ACCELERATION_EQUALITY_TOLERANCE) |
| | Check that the rotational path of a given trajectory is a quaternion slerp.
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| bool | testutils::isMonotonouslyDecreasing (const std::vector< double > &vec, double tol) |
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