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The MoveIt Motion Planning Framework for ROS 2.
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unittest_trajectory_generator_common.cpp File Reference
#include <boost/core/demangle.hpp>
#include <gtest/gtest.h>
#include <moveit/planning_interface/planning_interface.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 <moveit/robot_state/conversions.h>
#include <moveit/robot_state/robot_state.h>
#include <pilz_industrial_motion_planner/joint_limits_aggregator.h>
#include <pilz_industrial_motion_planner/joint_limits_container.h>
#include <pilz_industrial_motion_planner/trajectory_generator_circ.h>
#include <pilz_industrial_motion_planner/trajectory_generator_lin.h>
#include <pilz_industrial_motion_planner/trajectory_generator_ptp.h>
#include <pilz_industrial_motion_planner/trajectory_blender_transition_window.h>
#include "test_utils.h"
#include <rclcpp/rclcpp.hpp>
#include "cartesian_limits_parameters.hpp"
Include dependency graph for unittest_trajectory_generator_common.cpp:

Go to the source code of this file.

Classes

class  ValueTypeContainer< T, N >
 
class  TrajectoryGeneratorCommonTest< T >
 
class  TrajectoryGeneratorCommonTestNoGripper< T >
 

Typedefs

typedef ValueTypeContainer< pilz_industrial_motion_planner::TrajectoryGeneratorPTP, 0 > PTP_NO_GRIPPER
 
typedef ValueTypeContainer< pilz_industrial_motion_planner::TrajectoryGeneratorPTP, 1 > PTP_WITH_GRIPPER
 
typedef ValueTypeContainer< pilz_industrial_motion_planner::TrajectoryGeneratorLIN, 0 > LIN_NO_GRIPPER
 
typedef ValueTypeContainer< pilz_industrial_motion_planner::TrajectoryGeneratorLIN, 1 > LIN_WITH_GRIPPER
 
typedef ValueTypeContainer< pilz_industrial_motion_planner::TrajectoryGeneratorCIRC, 0 > CIRC_NO_GRIPPER
 
typedef ValueTypeContainer< pilz_industrial_motion_planner::TrajectoryGeneratorCIRC, 1 > CIRC_WITH_GRIPPER
 
typedef ::testing::Types< PTP_NO_GRIPPER, PTP_WITH_GRIPPER, LIN_NO_GRIPPER, LIN_WITH_GRIPPER, CIRC_NO_GRIPPER, CIRC_WITH_GRIPPERTrajectoryGeneratorCommonTestTypes
 
typedef ::testing::Types< PTP_NO_GRIPPER, LIN_NO_GRIPPER, CIRC_NO_GRIPPERTrajectoryGeneratorCommonTestTypesNoGripper
 
typedef ::testing::Types< PTP_WITH_GRIPPER, LIN_WITH_GRIPPER, CIRC_WITH_GRIPPERTrajectoryGeneratorCommonTestTypesWithGripper
 

Functions

 TYPED_TEST_SUITE (TrajectoryGeneratorCommonTest, TrajectoryGeneratorCommonTestTypes,)
 
 TYPED_TEST_SUITE (TrajectoryGeneratorCommonTestNoGripper, TrajectoryGeneratorCommonTestTypesNoGripper,)
 
 TYPED_TEST (TrajectoryGeneratorCommonTest, InvalideScalingFactor)
 test invalid scaling factor. The scaling factor must be in the range of [0.0001, 1]
 
 TYPED_TEST (TrajectoryGeneratorCommonTest, InvalidGroupName)
 Test invalid motion plan request for all trajectory generators.
 
 TYPED_TEST (TrajectoryGeneratorCommonTestNoGripper, GripperGroup)
 Test invalid motion plan request for all trajectory generators.
 
 TYPED_TEST (TrajectoryGeneratorCommonTest, EmptyJointNamesInStartState)
 Test invalid motion plan request for all trajectory generators.
 
 TYPED_TEST (TrajectoryGeneratorCommonTest, InconsistentStartState)
 size of joint name and joint position does not match in start state
 
 TYPED_TEST (TrajectoryGeneratorCommonTest, StartPostionOutOfLimit)
 joint position out of limit in start state
 
 TYPED_TEST (TrajectoryGeneratorCommonTest, StartPositionVelocityNoneZero)
 Check that no trajectory is generated if a start velocity is given.
 
 TYPED_TEST (TrajectoryGeneratorCommonTest, EmptyGoalConstraints)
 goal constraints is empty
 
 TYPED_TEST (TrajectoryGeneratorCommonTest, MultipleGoals)
 multiple goals
 
 TYPED_TEST (TrajectoryGeneratorCommonTest, InvalideJointNameInGoal)
 invalid joint name in joint constraint
 
 TYPED_TEST (TrajectoryGeneratorCommonTest, MissingJointConstraint)
 MissingJointConstraint.
 
 TYPED_TEST (TrajectoryGeneratorCommonTest, InvalideJointPositionInGoal)
 invalid joint position in joint constraint
 
 TYPED_TEST (TrajectoryGeneratorCommonTest, InvalidLinkNameInCartesianGoal)
 invalid link name in Cartesian goal constraint
 
 TYPED_TEST (TrajectoryGeneratorCommonTest, EmptyPrimitivePoses)
 no pose set in position constraint
 
int main (int argc, char **argv)
 

Variables

const std::string PARAM_MODEL_NO_GRIPPER_NAME { "robot_description" }
 
const std::string PARAM_MODEL_WITH_GRIPPER_NAME { "robot_description_pg70" }
 
const std::string PARAM_NAMESPACE_LIMITS { "robot_description_planning" }
 

Typedef Documentation

◆ CIRC_NO_GRIPPER

Definition at line 82 of file unittest_trajectory_generator_common.cpp.

◆ CIRC_WITH_GRIPPER

Definition at line 83 of file unittest_trajectory_generator_common.cpp.

◆ LIN_NO_GRIPPER

Definition at line 80 of file unittest_trajectory_generator_common.cpp.

◆ LIN_WITH_GRIPPER

Definition at line 81 of file unittest_trajectory_generator_common.cpp.

◆ PTP_NO_GRIPPER

Definition at line 78 of file unittest_trajectory_generator_common.cpp.

◆ PTP_WITH_GRIPPER

Definition at line 79 of file unittest_trajectory_generator_common.cpp.

◆ TrajectoryGeneratorCommonTestTypes

Definition at line 87 of file unittest_trajectory_generator_common.cpp.

◆ TrajectoryGeneratorCommonTestTypesNoGripper

Definition at line 89 of file unittest_trajectory_generator_common.cpp.

◆ TrajectoryGeneratorCommonTestTypesWithGripper

Definition at line 92 of file unittest_trajectory_generator_common.cpp.

Function Documentation

◆ main()

int main ( int  argc,
char **  argv 
)

Definition at line 443 of file unittest_trajectory_generator_common.cpp.

◆ TYPED_TEST() [1/14]

TYPED_TEST ( TrajectoryGeneratorCommonTest  ,
EmptyGoalConstraints   
)

goal constraints is empty

Definition at line 306 of file unittest_trajectory_generator_common.cpp.

◆ TYPED_TEST() [2/14]

TYPED_TEST ( TrajectoryGeneratorCommonTest  ,
EmptyJointNamesInStartState   
)

Test invalid motion plan request for all trajectory generators.

Test if there is a valid inverse kinematics solver for this planning group You can only test this case by commenting the planning_context.launch in the .test file //TODO create a separate robot model without ik solver and use it to create a trajectory generator

test the case of empty joint names in start state

Definition at line 262 of file unittest_trajectory_generator_common.cpp.

◆ TYPED_TEST() [3/14]

TYPED_TEST ( TrajectoryGeneratorCommonTest  ,
EmptyPrimitivePoses   
)

no pose set in position constraint

Definition at line 426 of file unittest_trajectory_generator_common.cpp.

◆ TYPED_TEST() [4/14]

TYPED_TEST ( TrajectoryGeneratorCommonTest  ,
InconsistentStartState   
)

size of joint name and joint position does not match in start state

Definition at line 272 of file unittest_trajectory_generator_common.cpp.

◆ TYPED_TEST() [5/14]

TYPED_TEST ( TrajectoryGeneratorCommonTest  ,
InvalideJointNameInGoal   
)

invalid joint name in joint constraint

Definition at line 360 of file unittest_trajectory_generator_common.cpp.

◆ TYPED_TEST() [6/14]

TYPED_TEST ( TrajectoryGeneratorCommonTest  ,
InvalideJointPositionInGoal   
)

invalid joint position in joint constraint

Definition at line 384 of file unittest_trajectory_generator_common.cpp.

◆ TYPED_TEST() [7/14]

TYPED_TEST ( TrajectoryGeneratorCommonTest  ,
InvalideScalingFactor   
)

test invalid scaling factor. The scaling factor must be in the range of [0.0001, 1]

Definition at line 192 of file unittest_trajectory_generator_common.cpp.

◆ TYPED_TEST() [8/14]

TYPED_TEST ( TrajectoryGeneratorCommonTest  ,
InvalidGroupName   
)

Test invalid motion plan request for all trajectory generators.

Definition at line 217 of file unittest_trajectory_generator_common.cpp.

◆ TYPED_TEST() [9/14]

TYPED_TEST ( TrajectoryGeneratorCommonTest  ,
InvalidLinkNameInCartesianGoal   
)

invalid link name in Cartesian goal constraint

Definition at line 394 of file unittest_trajectory_generator_common.cpp.

◆ TYPED_TEST() [10/14]

TYPED_TEST ( TrajectoryGeneratorCommonTest  ,
MissingJointConstraint   
)

MissingJointConstraint.

Definition at line 372 of file unittest_trajectory_generator_common.cpp.

◆ TYPED_TEST() [11/14]

TYPED_TEST ( TrajectoryGeneratorCommonTest  ,
MultipleGoals   
)

multiple goals

Definition at line 316 of file unittest_trajectory_generator_common.cpp.

◆ TYPED_TEST() [12/14]

TYPED_TEST ( TrajectoryGeneratorCommonTest  ,
StartPositionVelocityNoneZero   
)

Check that no trajectory is generated if a start velocity is given.

Note
This test is here for regression, however in general generators that can work with a given start velocity are highly desired.

Definition at line 296 of file unittest_trajectory_generator_common.cpp.

◆ TYPED_TEST() [13/14]

TYPED_TEST ( TrajectoryGeneratorCommonTest  ,
StartPostionOutOfLimit   
)

joint position out of limit in start state

Definition at line 282 of file unittest_trajectory_generator_common.cpp.

◆ TYPED_TEST() [14/14]

TYPED_TEST ( TrajectoryGeneratorCommonTestNoGripper  ,
GripperGroup   
)

Test invalid motion plan request for all trajectory generators.

Definition at line 227 of file unittest_trajectory_generator_common.cpp.

◆ TYPED_TEST_SUITE() [1/2]

◆ TYPED_TEST_SUITE() [2/2]

Variable Documentation

◆ PARAM_MODEL_NO_GRIPPER_NAME

const std::string PARAM_MODEL_NO_GRIPPER_NAME { "robot_description" }

Definition at line 58 of file unittest_trajectory_generator_common.cpp.

◆ PARAM_MODEL_WITH_GRIPPER_NAME

const std::string PARAM_MODEL_WITH_GRIPPER_NAME { "robot_description_pg70" }

Definition at line 59 of file unittest_trajectory_generator_common.cpp.

◆ PARAM_NAMESPACE_LIMITS

const std::string PARAM_NAMESPACE_LIMITS { "robot_description_planning" }

Definition at line 60 of file unittest_trajectory_generator_common.cpp.