Defines | Functions | Variables
test_collision_free_ik.cpp File Reference
#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include <ros/ros.h>
#include <kinematics_msgs/GetPositionIK.h>
#include <kinematics_msgs/GetPositionFK.h>
#include <kinematics_msgs/GetKinematicSolverInfo.h>
#include <kinematics_msgs/GetConstraintAwarePositionIK.h>
#include <gtest/gtest.h>
Include dependency graph for test_collision_free_ik.cpp:

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.



pr2_arm_ik_tests
Author(s): Sachin Chitta
autogenerated on Sat Dec 28 2013 17:24:01