Class TestdataLoader
Defined in File testdata_loader.h
Inheritance Relationships
Derived Type
public pilz_industrial_motion_planner_testutils::XmlTestdataLoader(Class XmlTestdataLoader)
Class Documentation
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class TestdataLoader
Abstract base class describing the interface to access test data like robot poses and robot commands.
Subclassed by pilz_industrial_motion_planner_testutils::XmlTestdataLoader
Public Functions
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TestdataLoader() = default
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inline TestdataLoader(moveit::core::RobotModelConstPtr robot_model)
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TestdataLoader(const TestdataLoader&) = default
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TestdataLoader(TestdataLoader&&) = default
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TestdataLoader &operator=(const TestdataLoader&) = default
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TestdataLoader &operator=(TestdataLoader&&) = default
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virtual ~TestdataLoader() = default
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inline void setRobotModel(moveit::core::RobotModelConstPtr robot_model)
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virtual JointConfiguration getJoints(const std::string &pos_name, const std::string &group_name) const = 0
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virtual CartesianConfiguration getPose(const std::string &pos_name, const std::string &group_name) const = 0
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virtual PtpJoint getPtpJoint(const std::string &cmd_name) const = 0
Returns the command with the specified name from the test data.
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virtual PtpJointCart getPtpJointCart(const std::string &cmd_name) const = 0
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virtual LinJoint getLinJoint(const std::string &cmd_name) const = 0
Returns the command with the specified name from the test data.
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virtual LinJointCart getLinJointCart(const std::string &cmd_name) const = 0
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virtual CircCenterCart getCircCartCenterCart(const std::string &cmd_name) const = 0
Returns the command with the specified name from the test data.
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virtual CircJointCenterCart getCircJointCenterCart(const std::string &cmd_name) const = 0
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virtual CircInterimCart getCircCartInterimCart(const std::string &cmd_name) const = 0
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virtual CircJointInterimCart getCircJointInterimCart(const std::string &cmd_name) const = 0
Protected Attributes
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moveit::core::RobotModelConstPtr robot_model_
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TestdataLoader() = default