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The MoveIt Motion Planning Framework for ROS 2.
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unittest_joint_limits_aggregator.cpp File Reference
#include <gtest/gtest.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <pilz_industrial_motion_planner/joint_limits_aggregator.h>
#include <pilz_industrial_motion_planner/joint_limits_extension.h>
#include <pilz_industrial_motion_planner/joint_limits_interface_extension.h>
#include <rclcpp/rclcpp.hpp>
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Classes

class  JointLimitsAggregator
 Unittest of the JointLimitsAggregator class. More...
 

Functions

 TEST_F (JointLimitsAggregator, ExpectedMapSize)
 Check for that the size of the map and the size of the given joint models is equal.
 
 TEST_F (JointLimitsAggregator, CorrectOverwriteByParamterPosition)
 Check that the value in the node parameters correctly overrides the position(if within limits)
 
 TEST_F (JointLimitsAggregator, CorrectOverwriteByParamterVelocity)
 Check that the value in the node parameter correctly overrides the velocity(if within limits)
 
 TEST_F (JointLimitsAggregator, CorrectSettingAccelerationAndDeceleration)
 Check that the acceleration and deceleration are set properly.
 
 TEST_F (JointLimitsAggregator, LimitsViolationPosition)
 Check that position limit violations are detected properly.
 
 TEST_F (JointLimitsAggregator, LimitsViolationVelocity)
 Check that velocity limit violations are detected properly.
 
int main (int argc, char **argv)
 

Function Documentation

◆ main()

int main ( int  argc,
char **  argv 
)

Definition at line 195 of file unittest_joint_limits_aggregator.cpp.

◆ TEST_F() [1/6]

TEST_F ( JointLimitsAggregator  ,
CorrectOverwriteByParamterPosition   
)

Check that the value in the node parameters correctly overrides the position(if within limits)

Definition at line 92 of file unittest_joint_limits_aggregator.cpp.

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◆ TEST_F() [2/6]

TEST_F ( JointLimitsAggregator  ,
CorrectOverwriteByParamterVelocity   
)

Check that the value in the node parameter correctly overrides the velocity(if within limits)

Definition at line 121 of file unittest_joint_limits_aggregator.cpp.

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◆ TEST_F() [3/6]

TEST_F ( JointLimitsAggregator  ,
CorrectSettingAccelerationAndDeceleration   
)

Check that the acceleration and deceleration are set properly.

Definition at line 145 of file unittest_joint_limits_aggregator.cpp.

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◆ TEST_F() [4/6]

TEST_F ( JointLimitsAggregator  ,
ExpectedMapSize   
)

Check for that the size of the map and the size of the given joint models is equal.

Definition at line 79 of file unittest_joint_limits_aggregator.cpp.

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◆ TEST_F() [5/6]

TEST_F ( JointLimitsAggregator  ,
LimitsViolationPosition   
)

Check that position limit violations are detected properly.

Definition at line 174 of file unittest_joint_limits_aggregator.cpp.

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◆ TEST_F() [6/6]

TEST_F ( JointLimitsAggregator  ,
LimitsViolationVelocity   
)

Check that velocity limit violations are detected properly.

Definition at line 188 of file unittest_joint_limits_aggregator.cpp.

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