test_collision_free_ik.cpp File Reference

#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include <ros/ros.h>
#include <iostream>
#include <cmath>
#include <stdexcept>
#include "duration.h"
#include <sys/time.h>
#include "ros/time.h"
#include <cstdio>
#include <sstream>
#include <log4cxx/logger.h>
#include "ros/console.h"
#include <boost/static_assert.hpp>
#include <cassert>
#include <stdint.h>
#include <assert.h>
#include <stddef.h>
#include <string>
#include "ros/assert.h"
#include <vector>
#include <map>
#include <set>
#include <list>
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>
#include <boost/function.hpp>
#include "exceptions.h"
#include <boost/shared_array.hpp>
#include "ros/types.h"
#include "ros/forwards.h"
#include "ros/common.h"
#include "ros/macros.h"
#include <string.h>
#include <boost/array.hpp>
#include "serialized_message.h"
#include "message_forward.h"
#include <boost/utility/enable_if.hpp>
#include <boost/type_traits/remove_const.hpp>
#include <boost/type_traits/remove_reference.hpp>
#include "message_traits.h"
#include "ros/exception.h"
#include <boost/call_traits.hpp>
#include <boost/mpl/and.hpp>
#include <boost/mpl/or.hpp>
#include <boost/mpl/not.hpp>
#include <cstring>
#include <boost/bind.hpp>
#include <typeinfo>
#include <ros/message.h>
#include <boost/type_traits/is_void.hpp>
#include <boost/type_traits/is_base_of.hpp>
#include <boost/type_traits/is_const.hpp>
#include <boost/type_traits/add_const.hpp>
#include <boost/make_shared.hpp>
#include <ros/static_assert.h>
#include "ros/message_traits.h"
#include "ros/builtin_message_traits.h"
#include "ros/serialization.h"
#include "ros/message_event.h"
#include "forwards.h"
#include "timer_options.h"
#include "wall_timer_options.h"
#include "ros/service_traits.h"
#include <boost/lexical_cast.hpp>
#include "subscription_callback_helper.h"
#include "ros/spinner.h"
#include "ros/publisher.h"
#include <boost/utility.hpp>
#include "ros/service_server.h"
#include "ros/subscriber.h"
#include "ros/node_handle.h"
#include "ros/init.h"
#include "XmlRpcValue.h"
#include "node_handle.h"
#include "ros/names.h"
#include <ostream>
#include "ros/message_operations.h"
#include "std_msgs/Header.h"
#include "geometry_msgs/Pose.h"
#include "motion_planning_msgs/RobotState.h"
#include "geometry_msgs/PoseStamped.h"
#include "motion_planning_msgs/ArmNavigationErrorCodes.h"
#include "kinematics_msgs/PositionIKRequest.h"
#include "geometry_msgs/Point.h"
#include "geometric_shapes_msgs/Shape.h"
#include "geometry_msgs/Quaternion.h"
#include <gtest/gtest.h>

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Go to the source code of this file.

Defines
#define	IK_NEAR   1e-4
#define	IK_NEAR_TRANSLATE   1e-5
Functions
double	gen_rand (double min, double max)
int	main (int argc, char **argv)
bool	NOT_NEAR (const double &v1, const double &v2, const double &NEAR)
	TEST (PR2ArmIKWithCollisionNode, inverseKinematics)
Variables
static const std::string	ARM_COLLISION_IK_NAME = "/pr2_right_arm_kinematics/get_constraint_aware_ik"
static const std::string	ARM_FK_NAME = "/pr2_right_arm_kinematics/get_fk"
static const std::string	ARM_IK_NAME = "/pr2_right_arm_kinematics/get_ik"
static const std::string	ARM_QUERY_NAME = "/pr2_right_arm_kinematics/get_ik_solver_info"
static const int	NUM_TESTS = 1000

---

Define Documentation

#define IK_NEAR   1e-4

Definition at line 44 of file test_collision_free_ik.cpp.

#define IK_NEAR_TRANSLATE   1e-5

Definition at line 45 of file test_collision_free_ik.cpp.

---

Function Documentation

double gen_rand	(	double	min,
		double	max
	)

Definition at line 54 of file test_collision_free_ik.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 144 of file test_collision_free_ik.cpp.

bool NOT_NEAR	(	const double &	v1,
		const double &	v2,
		const double &	NEAR
	)

Definition at line 61 of file test_collision_free_ik.cpp.

TEST	(	PR2ArmIKWithCollisionNode	,
		inverseKinematics
	)

Definition at line 68 of file test_collision_free_ik.cpp.

---

Variable Documentation

const std::string ARM_COLLISION_IK_NAME = "/pr2_right_arm_kinematics/get_constraint_aware_ik" [static]

Definition at line 49 of file test_collision_free_ik.cpp.

const std::string ARM_FK_NAME = "/pr2_right_arm_kinematics/get_fk" [static]

Definition at line 47 of file test_collision_free_ik.cpp.

const std::string ARM_IK_NAME = "/pr2_right_arm_kinematics/get_ik" [static]

Definition at line 48 of file test_collision_free_ik.cpp.

const std::string ARM_QUERY_NAME = "/pr2_right_arm_kinematics/get_ik_solver_info" [static]

Definition at line 50 of file test_collision_free_ik.cpp.

const int NUM_TESTS = 1000 [static]

Definition at line 52 of file test_collision_free_ik.cpp.