unittest_planning_context.cpp File Reference

#include <boost/core/demangle.hpp>
#include <gtest/gtest.h>
#include <moveit/planning_interface/planning_interface.hpp>
#include <moveit/kinematic_constraints/utils.hpp>
#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit/robot_model/robot_model.hpp>
#include <moveit/robot_model_loader/robot_model_loader.hpp>
#include <pilz_industrial_motion_planner/joint_limits_container.hpp>
#include <pilz_industrial_motion_planner/planning_context_circ.hpp>
#include <pilz_industrial_motion_planner/planning_context_lin.hpp>
#include <pilz_industrial_motion_planner/planning_context_ptp.hpp>
#include "test_utils.hpp"

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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_GRIPPER >	PlanningContextTestTypes

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)

Variables
template<typename T, int N>
const int	ValueTypeContainer< T, N >::VALUE

Typedef Documentation

CIRC_NO_GRIPPER

typedef ValueTypeContainer<pilz_industrial_motion_planner::PlanningContextCIRC, 0> CIRC_NO_GRIPPER

Definition at line 76 of file unittest_planning_context.cpp.

CIRC_WITH_GRIPPER

typedef ValueTypeContainer<pilz_industrial_motion_planner::PlanningContextCIRC, 1> CIRC_WITH_GRIPPER

Definition at line 77 of file unittest_planning_context.cpp.

LIN_NO_GRIPPER

typedef ValueTypeContainer<pilz_industrial_motion_planner::PlanningContextLIN, 0> LIN_NO_GRIPPER

Definition at line 74 of file unittest_planning_context.cpp.

LIN_WITH_GRIPPER

typedef ValueTypeContainer<pilz_industrial_motion_planner::PlanningContextLIN, 1> LIN_WITH_GRIPPER

Definition at line 75 of file unittest_planning_context.cpp.

PlanningContextTestTypes

typedef ::testing::Types<PTP_NO_GRIPPER, PTP_WITH_GRIPPER, LIN_NO_GRIPPER, LIN_WITH_GRIPPER, CIRC_NO_GRIPPER, CIRC_WITH_GRIPPER> PlanningContextTestTypes

Definition at line 81 of file unittest_planning_context.cpp.

PTP_NO_GRIPPER

typedef ValueTypeContainer<pilz_industrial_motion_planner::PlanningContextPTP, 0> PTP_NO_GRIPPER

Definition at line 72 of file unittest_planning_context.cpp.

PTP_WITH_GRIPPER

typedef ValueTypeContainer<pilz_industrial_motion_planner::PlanningContextPTP, 1> 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	)

Variable Documentation

ValueTypeContainer< T, N >::VALUE

template<typename T, int N>

const int ValueTypeContainer< T, N >::VALUE

Definition at line 70 of file unittest_planning_context.cpp.