test_ik_with_constraints.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_ik_with_constraints.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

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Define Documentation

#define IK_NEAR   1e-4

Definition at line 44 of file test_ik_with_constraints.cpp.

#define IK_NEAR_TRANSLATE   1e-5

Definition at line 45 of file test_ik_with_constraints.cpp.

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Function Documentation

double gen_rand	(	double	min,
		double	max
	)

Definition at line 54 of file test_ik_with_constraints.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 198 of file test_ik_with_constraints.cpp.

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

Definition at line 61 of file test_ik_with_constraints.cpp.

TEST	(	PR2ArmIKWithCollisionNode	,
		inverseKinematics
	)

Definition at line 68 of file test_ik_with_constraints.cpp.

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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_ik_with_constraints.cpp.

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

Definition at line 47 of file test_ik_with_constraints.cpp.

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

Definition at line 48 of file test_ik_with_constraints.cpp.

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

Definition at line 50 of file test_ik_with_constraints.cpp.

const int NUM_TESTS = 1000 [static]

Definition at line 52 of file test_ik_with_constraints.cpp.