test_kinematics_plugin.cpp File Reference

#include <gtest/gtest.h>
#include <memory>
#include <functional>
#include <pluginlib/class_loader.hpp>
#include <ros/ros.h>
#include <tf2_eigen/tf2_eigen.h>
#include <xmlrpcpp/XmlRpcValue.h>
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/rdf_loader/rdf_loader.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_state/conversions.h>
#include <moveit_msgs/DisplayTrajectory.h>
#include <moveit/robot_trajectory/robot_trajectory.h>

Include dependency graph for test_kinematics_plugin.cpp:

Go to the source code of this file.

Classes
class	KinematicsTest
class	SharedData

Macros
#define	EXPECT_NEAR_POSES(lhs, rhs, near)

Functions
template<typename T >
bool	getParam (const std::string &param, T &val)
int	main (int argc, char **argv)
static double	parseDouble (XmlRpc::XmlRpcValue &v)
static bool	parseGoal (const std::string &name, XmlRpc::XmlRpcValue &value, Eigen::Isometry3d &goal, std::string &desc)
static void	parseVector (XmlRpc::XmlRpcValue &vec, std::vector< double > &values, size_t num=0)
	TEST_F (KinematicsTest, getFK)
	TEST_F (KinematicsTest, getIK)
	TEST_F (KinematicsTest, getIKMultipleSolutions)
	TEST_F (KinematicsTest, getNearestIKSolution)
	TEST_F (KinematicsTest, randomWalkIK)
	TEST_F (KinematicsTest, searchIK)
	TEST_F (KinematicsTest, searchIKWithCallback)
	TEST_F (KinematicsTest, unitIK)

Variables
const double	DEFAULT_SEARCH_DISCRETIZATION = 0.01f
const double	DEFAULT_TOLERANCE = 1e-5
const double	EXPECTED_SUCCESS_RATE = 0.8
const std::string	ROBOT_DESCRIPTION_PARAM = "robot_description"

Macro Definition Documentation

EXPECT_NEAR_POSES

#define EXPECT_NEAR_POSES	(		lhs,
			rhs,
			near
	)

Value:

  SCOPED_TRACE("EXPECT_NEAR_POSES(" #lhs ", " #rhs ")");                                                               \
  GTEST_ASSERT_(expectNearHelper(#lhs, #rhs, #near, lhs, rhs, near), GTEST_NONFATAL_FAILURE_);

Definition at line 349 of file test_kinematics_plugin.cpp.

Function Documentation

getParam()

template<typename T >

bool getParam ( const std::string &  param, T &  val  )

inline

Definition at line 62 of file test_kinematics_plugin.cpp.

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 803 of file test_kinematics_plugin.cpp.

parseDouble()

static double parseDouble ( XmlRpc::XmlRpcValue &  v )

static

Definition at line 456 of file test_kinematics_plugin.cpp.

parseGoal()

static bool parseGoal ( const std::string &  name, XmlRpc::XmlRpcValue &  value, Eigen::Isometry3d &  goal, std::string &  desc  )

static

Definition at line 477 of file test_kinematics_plugin.cpp.

parseVector()

static void parseVector ( XmlRpc::XmlRpcValue &  vec, std::vector< double > &  values, size_t  num = 0  )

static

Definition at line 465 of file test_kinematics_plugin.cpp.

TEST_F() [1/8]

TEST_F	(	KinematicsTest	,
		getFK
	)

Definition at line 353 of file test_kinematics_plugin.cpp.

TEST_F() [2/8]

TEST_F	(	KinematicsTest	,
		getIK
	)

Definition at line 667 of file test_kinematics_plugin.cpp.

TEST_F() [3/8]

TEST_F	(	KinematicsTest	,
		getIKMultipleSolutions
	)

Definition at line 705 of file test_kinematics_plugin.cpp.

TEST_F() [4/8]

TEST_F	(	KinematicsTest	,
		getNearestIKSolution
	)

Definition at line 747 of file test_kinematics_plugin.cpp.

TEST_F() [5/8]

TEST_F	(	KinematicsTest	,
		randomWalkIK
	)

Definition at line 377 of file test_kinematics_plugin.cpp.

TEST_F() [6/8]

TEST_F	(	KinematicsTest	,
		searchIK
	)

Definition at line 588 of file test_kinematics_plugin.cpp.

TEST_F() [7/8]

TEST_F	(	KinematicsTest	,
		searchIKWithCallback
	)

Definition at line 622 of file test_kinematics_plugin.cpp.

TEST_F() [8/8]

TEST_F	(	KinematicsTest	,
		unitIK
	)

Definition at line 513 of file test_kinematics_plugin.cpp.

Variable Documentation

DEFAULT_SEARCH_DISCRETIZATION

const double DEFAULT_SEARCH_DISCRETIZATION = 0.01f

Definition at line 57 of file test_kinematics_plugin.cpp.

DEFAULT_TOLERANCE

const double DEFAULT_TOLERANCE = 1e-5

Definition at line 59 of file test_kinematics_plugin.cpp.

EXPECTED_SUCCESS_RATE

const double EXPECTED_SUCCESS_RATE = 0.8

Definition at line 58 of file test_kinematics_plugin.cpp.

ROBOT_DESCRIPTION_PARAM

const std::string ROBOT_DESCRIPTION_PARAM = "robot_description"

Definition at line 56 of file test_kinematics_plugin.cpp.