#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>

Include dependency graph for unittest_joint_limits_aggregator.cpp:

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.