moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Classes | Typedefs | Functions
unittest_planning_context.cpp File Reference
#include <boost/core/demangle.hpp>
#include <gtest/gtest.h>
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/kinematic_constraints/utils.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <pilz_industrial_motion_planner/joint_limits_container.h>
#include <pilz_industrial_motion_planner/planning_context_circ.h>
#include <pilz_industrial_motion_planner/planning_context_lin.h>
#include <pilz_industrial_motion_planner/planning_context_ptp.h>
#include "test_utils.h"
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Classes

class  ValueTypeContainer< T, N >
 
class  PlanningContextTest< T >
 

Typedefs

typedef ValueTypeContainer< pilz_industrial_motion_planner::PlanningContextPTP, 0 > PTP_NO_GRIPPER
 
typedef ValueTypeContainer< pilz_industrial_motion_planner::PlanningContextPTP, 1 > PTP_WITH_GRIPPER
 
typedef ValueTypeContainer< pilz_industrial_motion_planner::PlanningContextLIN, 0 > LIN_NO_GRIPPER
 
typedef ValueTypeContainer< pilz_industrial_motion_planner::PlanningContextLIN, 1 > LIN_WITH_GRIPPER
 
typedef ValueTypeContainer< pilz_industrial_motion_planner::PlanningContextCIRC, 0 > CIRC_NO_GRIPPER
 
typedef ValueTypeContainer< pilz_industrial_motion_planner::PlanningContextCIRC, 1 > CIRC_WITH_GRIPPER
 
typedef ::testing::Types< PTP_NO_GRIPPER, PTP_WITH_GRIPPER, LIN_NO_GRIPPER, LIN_WITH_GRIPPER, CIRC_NO_GRIPPER, CIRC_WITH_GRIPPERPlanningContextTestTypes
 

Functions

const std::string PARAM_PLANNING_GROUP_NAME ("planning_group")
 
const std::string PARAM_TARGET_LINK_NAME ("target_link")
 
 TYPED_TEST_SUITE (PlanningContextTest, PlanningContextTestTypes,)
 
 TYPED_TEST (PlanningContextTest, NoRequest)
 No request is set. Check the output of solve. Using robot model without gripper.
 
 TYPED_TEST (PlanningContextTest, SolveValidRequest)
 Solve a valid request.
 
 TYPED_TEST (PlanningContextTest, SolveValidRequestDetailedResponse)
 Solve a valid request. Expect a detailed response.
 
 TYPED_TEST (PlanningContextTest, SolveOnTerminated)
 Call solve on a terminated context.
 
 TYPED_TEST (PlanningContextTest, Clear)
 Check if clear can be called. So far only stability is expected.
 
int main (int argc, char **argv)
 

Typedef Documentation

◆ CIRC_NO_GRIPPER

Definition at line 76 of file unittest_planning_context.cpp.

◆ CIRC_WITH_GRIPPER

Definition at line 77 of file unittest_planning_context.cpp.

◆ LIN_NO_GRIPPER

Definition at line 74 of file unittest_planning_context.cpp.

◆ LIN_WITH_GRIPPER

Definition at line 75 of file unittest_planning_context.cpp.

◆ PlanningContextTestTypes

Definition at line 81 of file unittest_planning_context.cpp.

◆ PTP_NO_GRIPPER

Definition at line 72 of file unittest_planning_context.cpp.

◆ PTP_WITH_GRIPPER

Definition at line 73 of file unittest_planning_context.cpp.

Function Documentation

◆ main()

int main ( int  argc,
char **  argv 
)

Definition at line 281 of file unittest_planning_context.cpp.

◆ PARAM_PLANNING_GROUP_NAME()

const std::string PARAM_PLANNING_GROUP_NAME ( "planning_group"  )
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◆ PARAM_TARGET_LINK_NAME()

const std::string PARAM_TARGET_LINK_NAME ( "target_link"  )
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◆ TYPED_TEST() [1/5]

TYPED_TEST ( PlanningContextTest  ,
Clear   
)

Check if clear can be called. So far only stability is expected.

Definition at line 276 of file unittest_planning_context.cpp.

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◆ TYPED_TEST() [2/5]

TYPED_TEST ( PlanningContextTest  ,
NoRequest   
)

No request is set. Check the output of solve. Using robot model without gripper.

Definition at line 207 of file unittest_planning_context.cpp.

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◆ TYPED_TEST() [3/5]

TYPED_TEST ( PlanningContextTest  ,
SolveOnTerminated   
)

Call solve on a terminated context.

Definition at line 257 of file unittest_planning_context.cpp.

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◆ TYPED_TEST() [4/5]

TYPED_TEST ( PlanningContextTest  ,
SolveValidRequest   
)

Solve a valid request.

Definition at line 219 of file unittest_planning_context.cpp.

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◆ TYPED_TEST() [5/5]

TYPED_TEST ( PlanningContextTest  ,
SolveValidRequestDetailedResponse   
)

Solve a valid request. Expect a detailed response.

Definition at line 242 of file unittest_planning_context.cpp.

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◆ TYPED_TEST_SUITE()

TYPED_TEST_SUITE ( PlanningContextTest  ,
PlanningContextTestTypes   
)