Classes | Functions | Variables
move_arm_utils_test.cpp File Reference
#include <move_arm_warehouse/move_arm_utils.h>
#include <gtest/gtest.h>
Include dependency graph for move_arm_utils_test.cpp:

Go to the source code of this file.

Classes

class  PlanningSceneEditorTest

Functions

int main (int argc, char **argv)
float randFloat (float minValue, float maxValue)
void spinThread ()
 TEST (TestSuite, connectTest)
 Creates the editor and connects to the database.
 TEST (TestSuite, createPlanningSceneTest)
 Creates 10 new planning scenes.
 TEST (TestSuite, createSaveTest)
 Creates and saves a planning scene.
 TEST (TestSuite, createDeleteMotionPlanTest)
 Creates and deletes 100 motion plan requests.
 TEST (TestSuite, planTrajectoryTest)
 Plans a trajectory from the start state to 100 random positions.
 TEST (TestSuite, filterTrajectoryTest)
 Creates and filters 10 random trajectories.
 TEST (TestSuite, randomGeneratorTest)
 TEST (TestSuite, collisionObjectTest)
 Creates 100 random objects, then deletes them all.

Variables

static const double BASE_ROT_SPEED = .15
static const double BASE_TRANS_SPEED = .3
static const unsigned int CONTROL_SPEED = 5
PlanningSceneEditorTesteditor = NULL
static const std::string EXECUTE_LEFT_TRAJECTORY = "/l_arm_controller/follow_joint_trajectory"
static const std::string EXECUTE_RIGHT_TRAJECTORY = "/r_arm_controller/follow_joint_trajectory"
static const double HAND_ROT_SPEED = .15
static const double HAND_TRANS_SPEED = .05
bool inited = false
bool killThread = false
static const std::string LEFT_ARM_GROUP = "left_arm"
static const std::string LEFT_ARM_REDUNDANCY = "l_upper_arm_roll_joint"
static const std::string LEFT_IK_LINK = "l_wrist_roll_link"
static const std::string LEFT_IK_NAME = "/pr2_left_arm_kinematics/get_constraint_aware_ik"
static const std::string LEFT_INTERPOLATE_SERVICE_NAME = "/l_interpolated_ik_motion_plan"
static const std::string NON_COLL_LEFT_IK_NAME = "/pr2_left_arm_kinematics/get_ik"
static const std::string NON_COLL_RIGHT_IK_NAME = "/pr2_right_arm_kinematics/get_ik"
planning_scene_utils::PlanningSceneParameters params
static const std::string PLANNER_1_SERVICE_NAME = "/ompl_planning/plan_kinematic_path"
static const std::string PLANNER_2_SERVICE_NAME = "/chomp_planner_longrange/plan_path"
static const std::string PROXIMITY_SPACE_PLANNER_NAME = "/collision_proximity_planner/plan"
static const std::string PROXIMITY_SPACE_SERVICE_NAME = "/collision_proximity_server_test/get_distance_aware_plan"
static const std::string PROXIMITY_SPACE_VALIDITY_NAME = "/collision_proximity_server_test/get_state_validity"
static const std::string RIGHT_ARM_GROUP = "right_arm"
static const std::string RIGHT_ARM_REDUNDANCY = "r_upper_arm_roll_joint"
static const std::string RIGHT_IK_LINK = "r_wrist_roll_link"
static const std::string RIGHT_IK_NAME = "/pr2_right_arm_kinematics/get_constraint_aware_ik"
static const std::string RIGHT_INTERPOLATE_SERVICE_NAME = "/r_interpolated_ik_motion_plan"
static const std::string SET_PLANNING_SCENE_DIFF_NAME = "environment_server/set_planning_scene_diff"
static const std::string TRAJECTORY_FILTER_SERVICE_NAME = "/trajectory_filter/filter_trajectory_with_constraints"
static const std::string VIS_TOPIC_NAME = "planning_scene_visualizer_markers"

Function Documentation

int main ( int  argc,
char **  argv 
)

Definition at line 311 of file move_arm_utils_test.cpp.

float randFloat ( float  minValue,
float  maxValue 
)

Definition at line 224 of file move_arm_utils_test.cpp.

void spinThread ( )

Definition at line 296 of file move_arm_utils_test.cpp.

TEST ( TestSuite  ,
connectTest   
)

Creates the editor and connects to the database.

Definition at line 83 of file move_arm_utils_test.cpp.

TEST ( TestSuite  ,
createPlanningSceneTest   
)

Creates 10 new planning scenes.

Definition at line 91 of file move_arm_utils_test.cpp.

TEST ( TestSuite  ,
createSaveTest   
)

Creates and saves a planning scene.

Definition at line 105 of file move_arm_utils_test.cpp.

TEST ( TestSuite  ,
createDeleteMotionPlanTest   
)

Creates and deletes 100 motion plan requests.

Definition at line 116 of file move_arm_utils_test.cpp.

TEST ( TestSuite  ,
planTrajectoryTest   
)

Plans a trajectory from the start state to 100 random positions.

Definition at line 143 of file move_arm_utils_test.cpp.

TEST ( TestSuite  ,
filterTrajectoryTest   
)

Creates and filters 10 random trajectories.

Definition at line 183 of file move_arm_utils_test.cpp.

TEST ( TestSuite  ,
randomGeneratorTest   
)

Definition at line 229 of file move_arm_utils_test.cpp.

TEST ( TestSuite  ,
collisionObjectTest   
)

Creates 100 random objects, then deletes them all.

Definition at line 242 of file move_arm_utils_test.cpp.


Variable Documentation

const double BASE_ROT_SPEED = .15 [static]

Definition at line 9 of file move_arm_utils_test.cpp.

const double BASE_TRANS_SPEED = .3 [static]

Definition at line 8 of file move_arm_utils_test.cpp.

const unsigned int CONTROL_SPEED = 5 [static]

Definition at line 6 of file move_arm_utils_test.cpp.

Definition at line 74 of file move_arm_utils_test.cpp.

const std::string EXECUTE_LEFT_TRAJECTORY = "/l_arm_controller/follow_joint_trajectory" [static]

Definition at line 15 of file move_arm_utils_test.cpp.

const std::string EXECUTE_RIGHT_TRAJECTORY = "/r_arm_controller/follow_joint_trajectory" [static]

Definition at line 14 of file move_arm_utils_test.cpp.

const double HAND_ROT_SPEED = .15 [static]

Definition at line 12 of file move_arm_utils_test.cpp.

const double HAND_TRANS_SPEED = .05 [static]

Definition at line 11 of file move_arm_utils_test.cpp.

bool inited = false

Definition at line 78 of file move_arm_utils_test.cpp.

bool killThread = false

Definition at line 77 of file move_arm_utils_test.cpp.

const std::string LEFT_ARM_GROUP = "left_arm" [static]

Definition at line 23 of file move_arm_utils_test.cpp.

const std::string LEFT_ARM_REDUNDANCY = "l_upper_arm_roll_joint" [static]

Definition at line 26 of file move_arm_utils_test.cpp.

const std::string LEFT_IK_LINK = "l_wrist_roll_link" [static]

Definition at line 28 of file move_arm_utils_test.cpp.

const std::string LEFT_IK_NAME = "/pr2_left_arm_kinematics/get_constraint_aware_ik" [static]

Definition at line 16 of file move_arm_utils_test.cpp.

const std::string LEFT_INTERPOLATE_SERVICE_NAME = "/l_interpolated_ik_motion_plan" [static]

Definition at line 33 of file move_arm_utils_test.cpp.

const std::string NON_COLL_LEFT_IK_NAME = "/pr2_left_arm_kinematics/get_ik" [static]

Definition at line 19 of file move_arm_utils_test.cpp.

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

Definition at line 20 of file move_arm_utils_test.cpp.

Definition at line 75 of file move_arm_utils_test.cpp.

const std::string PLANNER_1_SERVICE_NAME = "/ompl_planning/plan_kinematic_path" [static]

Definition at line 31 of file move_arm_utils_test.cpp.

const std::string PLANNER_2_SERVICE_NAME = "/chomp_planner_longrange/plan_path" [static]

Definition at line 32 of file move_arm_utils_test.cpp.

const std::string PROXIMITY_SPACE_PLANNER_NAME = "/collision_proximity_planner/plan" [static]

Definition at line 38 of file move_arm_utils_test.cpp.

const std::string PROXIMITY_SPACE_SERVICE_NAME = "/collision_proximity_server_test/get_distance_aware_plan" [static]

Definition at line 36 of file move_arm_utils_test.cpp.

const std::string PROXIMITY_SPACE_VALIDITY_NAME = "/collision_proximity_server_test/get_state_validity" [static]

Definition at line 37 of file move_arm_utils_test.cpp.

const std::string RIGHT_ARM_GROUP = "right_arm" [static]

Definition at line 22 of file move_arm_utils_test.cpp.

const std::string RIGHT_ARM_REDUNDANCY = "r_upper_arm_roll_joint" [static]

Definition at line 25 of file move_arm_utils_test.cpp.

const std::string RIGHT_IK_LINK = "r_wrist_roll_link" [static]

Definition at line 29 of file move_arm_utils_test.cpp.

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

Definition at line 17 of file move_arm_utils_test.cpp.

const std::string RIGHT_INTERPOLATE_SERVICE_NAME = "/r_interpolated_ik_motion_plan" [static]

Definition at line 34 of file move_arm_utils_test.cpp.

const std::string SET_PLANNING_SCENE_DIFF_NAME = "environment_server/set_planning_scene_diff" [static]

Definition at line 39 of file move_arm_utils_test.cpp.

const std::string TRAJECTORY_FILTER_SERVICE_NAME = "/trajectory_filter/filter_trajectory_with_constraints" [static]

Definition at line 35 of file move_arm_utils_test.cpp.

const std::string VIS_TOPIC_NAME = "planning_scene_visualizer_markers" [static]

Definition at line 3 of file move_arm_utils_test.cpp.



move_arm_warehouse
Author(s): Ioan Sucan, Sachin Chitta(sachinc@willowgarage.com)
autogenerated on Thu Dec 12 2013 11:09:11