test_moveit.TestMoveit Class Reference

Inheritance diagram for test_moveit.TestMoveit:

Public Member Functions
def	setUpClass (self)
def	tearDownClass (self)
def	test_list_activejoints (self)
def	test_list_movegroups (self)
def	test_plan (self)
def	test_planandexecute (self)
def	test_planning_scene (self)
def	test_set_pose_target (self)

Public Attributes
	robot

Private Member Functions
def	_plan (self)
def	_set_sample_pose (self)

Private Attributes
	_joints_movegroup_main
	_movegroups
	_mvgroup

Static Private Attributes
string	_KINEMATICSOLVER_SAFE = 'RRTConnectkConfigDefault'
string	_MOVEGROUP_MAIN = 'manipulator'

Detailed Description

Definition at line 56 of file test_moveit.py.

Member Function Documentation

def test_moveit.TestMoveit._plan (   self )

private

Run `clear_pose_targets` at the beginning.
@rtype: RobotTrajectory http://docs.ros.org/api/moveit_msgs/html/msg/RobotTrajectory.html

Definition at line 94 of file test_moveit.py.

def test_moveit.TestMoveit._set_sample_pose (   self )

private

@return: Pose() with some values populated in.

Definition at line 80 of file test_moveit.py.

def test_moveit.TestMoveit.setUpClass

(

self

)

Definition at line 61 of file test_moveit.py.

def test_moveit.TestMoveit.tearDownClass

(

self

)

Definition at line 77 of file test_moveit.py.

def test_moveit.TestMoveit.test_list_activejoints

(

self

)

Check if the defined joints in a move group are loaded.

Definition at line 111 of file test_moveit.py.

def test_moveit.TestMoveit.test_list_movegroups

(

self

)

Check if the defined move groups are loaded.

Definition at line 107 of file test_moveit.py.

def test_moveit.TestMoveit.test_plan

(

self

)

Evaluate plan (RobotTrajectory)

Definition at line 115 of file test_moveit.py.

def test_moveit.TestMoveit.test_planandexecute

(

self

)

Evaluate Plan and Execute works.
Currently no value checking is done (, which is better to be implemented)

Definition at line 123 of file test_moveit.py.

def test_moveit.TestMoveit.test_planning_scene

(

self

)

Check if publish_simple_scene.py is working

Definition at line 155 of file test_moveit.py.

def test_moveit.TestMoveit.test_set_pose_target

(

self

)

Check for simple planning, originally testd in moved from denso_vs060_moveit_demo_test.py

Definition at line 138 of file test_moveit.py.

Member Data Documentation

test_moveit.TestMoveit._joints_movegroup_main

private

Definition at line 74 of file test_moveit.py.

string test_moveit.TestMoveit._KINEMATICSOLVER_SAFE = 'RRTConnectkConfigDefault'

staticprivate

Definition at line 58 of file test_moveit.py.

string test_moveit.TestMoveit._MOVEGROUP_MAIN = 'manipulator'

staticprivate

Definition at line 57 of file test_moveit.py.

test_moveit.TestMoveit._movegroups

private

Definition at line 73 of file test_moveit.py.

test_moveit.TestMoveit._mvgroup

private

Definition at line 69 of file test_moveit.py.

test_moveit.TestMoveit.robot

Definition at line 68 of file test_moveit.py.

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The documentation for this class was generated from the following file:

• test_moveit.py