#include <gtest/gtest.h>#include <ros/ros.h>#include <exotica_core/exotica_core.h>#include <exotica_core/tools/test_helpers.h>
Include dependency graph for test_maps.cpp:
Go to the source code of this file.
Functions | |
| int | main (int argc, char **argv) |
| UnconstrainedEndPoseProblemPtr | setup_problem (Initializer &map, const std::string &collision_scene="", const std::vector< Initializer > &links=std::vector< Initializer >()) |
| UnconstrainedTimeIndexedProblemPtr | setup_time_indexed_problem (Initializer &map) |
| TEST (ExoticaTaskMaps, testEffPositionXY) | |
| TEST (ExoticaTaskMaps, testEffPosition) | |
| TEST (ExoticaTaskMaps, testEffOrientation) | |
| TEST (ExoticaTaskMaps, testEffAxisAlignment) | |
| TEST (ExoticaTaskMaps, testEffFrame) | |
| TEST (ExoticaTaskMaps, testEffVelocity) | |
| TEST (ExoticaTaskMaps, testDistance) | |
| TEST (ExoticaTaskMaps, testDistanceToLine2D) | |
| TEST (ExoticaTaskMaps, testJointLimit) | |
| TEST (ExoticaTaskMaps, testJointTorqueMinimizationProxy) | |
| TEST (ExoticaTaskMaps, testSphereCollision) | |
| TEST (ExoticaTaskMaps, testJointPose) | |
| TEST (ExoticaTaskMaps, testCoM) | |
| TEST (ExoticaTaskMaps, testContinuousJointPose) | |
| TEST (ExoticaTaskMaps, testIMesh) | |
| TEST (ExoticaTaskMaps, testPoint2Line) | |
| TEST (ExoticaTaskMaps, testPoint2Plane) | |
| TEST (ExoticaTaskMaps, testCollisionDistance) | |
| TEST (ExoticaTaskMaps, testSmoothCollisionDistance) | |
| TEST (ExoticaTaskMaps, testQuasiStatic) | |
| TEST (ExoticaTaskMaps, testJointSmoothingBackwardDifference) | |
| TEST (ExoticaTaskMaps, testAvoidLookAtSphere) | |
| TEST (ExoticaTaskMaps, testLookAt) | |
| TEST (ExoticaTaskMaps, testManipulability) | |
| bool | test_hessian (UnconstrainedEndPoseProblemPtr problem, const double eps=1e-5) |
| bool | test_jacobian (UnconstrainedEndPoseProblemPtr problem, const double eps=1e-5) |
| template<class T > | |
| bool | test_jacobian_time_indexed (std::shared_ptr< T > problem, TimeIndexedTask &task, int t, const double eps=1e-5) |
| bool | test_random (UnconstrainedEndPoseProblemPtr problem) |
| bool | test_random (UnconstrainedTimeIndexedProblemPtr problem) |
| bool | test_values (Eigen::MatrixXdRefConst Xref, Eigen::MatrixXdRefConst Yref, Eigen::MatrixXdRefConst Jref, UnconstrainedEndPoseProblemPtr problem, const double eps=1e-5) |
Variables | |
| constexpr int | num_trials_ = 100 |
| constexpr bool | print_debug_information_ = false |
| static const std::string | srdf_string_ = "<robot name=\"test_robot\"><group name=\"arm\"><chain base_link=\"base\" tip_link=\"endeff\" /></group><virtual_joint name=\"world_joint\" type=\"fixed\" parent_frame=\"world_frame\" child_link=\"base\" /><group_state name=\"zero\" group=\"arm\"><joint name=\"joint1\" value=\"0\" /><joint name=\"joint2\" value=\"0.3\" /><joint name=\"joint3\" value=\"0.55\" /></group_state><disable_collisions link1=\"base\" link2=\"link1\" reason=\"Adjacent\" /><disable_collisions link1=\"endeff\" link2=\"link3\" reason=\"Adjacent\" /><disable_collisions link1=\"link1\" link2=\"link2\" reason=\"Adjacent\" /><disable_collisions link1=\"link2\" link2=\"link3\" reason=\"Adjacent\" /></robot>" |
| static const std::string | urdf_string_ = "<robot name=\"test_robot\"><link name=\"base\"><visual><geometry><cylinder length=\"0.3\" radius=\"0.2\"/></geometry><origin xyz=\"0 0 0.15\"/></visual><collision><geometry><cylinder length=\"0.3\" radius=\"0.2\"/></geometry><origin xyz=\"0 0 0.15\"/></collision></link><link name=\"link1\"><inertial><mass value=\"0.2\"/><origin xyz=\"0 0 0.1\"/><inertia ixx=\"0.00381666666667\" ixy=\"0\" ixz=\"0\" iyy=\"0.0036\" iyz=\"0\" izz=\"0.00381666666667\"/></inertial><visual><geometry><cylinder length=\"0.15\" radius=\"0.05\"/></geometry><origin xyz=\"0 0 0.075\"/></visual><collision><geometry><cylinder length=\"0.15\" radius=\"0.05\"/></geometry><origin xyz=\"0 0 0.075\"/></collision></link><link name=\"link2\"><inertial><mass value=\"0.2\"/><origin xyz=\"0 0 0.1\"/><inertia ixx=\"0.00381666666667\" ixy=\"0\" ixz=\"0\" iyy=\"0.0036\" iyz=\"0\" izz=\"0.00381666666667\"/></inertial><visual><geometry><cylinder length=\"0.35\" radius=\"0.05\"/></geometry><origin xyz=\"0 0 0.175\"/></visual><collision><geometry><cylinder length=\"0.35\" radius=\"0.05\"/></geometry><origin xyz=\"0 0 0.175\"/></collision></link><link name=\"link3\"><inertial><mass value=\"0.2\"/><origin xyz=\"0 0 0.1\"/><inertia ixx=\"0.00381666666667\" ixy=\"0\" ixz=\"0\" iyy=\"0.0036\" iyz=\"0\" izz=\"0.00381666666667\"/></inertial><visual><geometry><cylinder length=\"0.45\" radius=\"0.05\"/></geometry><origin xyz=\"0 0 0.225\"/></visual><collision><geometry><cylinder length=\"0.45\" radius=\"0.05\"/></geometry><origin xyz=\"0 0 0.225\"/></collision></link><link name=\"endeff\"><inertial><mass value=\"0.2\"/><origin xyz=\"0 0 0.1\"/><inertia ixx=\"0.00381666666667\" ixy=\"0\" ixz=\"0\" iyy=\"0.0036\" iyz=\"0\" izz=\"0.00381666666667\"/></inertial><visual><geometry><cylinder length=\"0.05\" radius=\"0.1\"/></geometry><origin xyz=\"0 0 -0.025\"/></visual><collision><geometry><cylinder length=\"0.05\" radius=\"0.1\"/></geometry><origin xyz=\"0 0 -0.025\"/></collision></link><joint name=\"joint1\" type=\"revolute\"><parent link=\"base\"/><child link=\"link1\"/><origin xyz=\"0 0 0.3\" rpy=\"0 0 0\" /><axis xyz=\"0 0 1\" /><limit effort=\"200\" velocity=\"1.0\" lower=\"-0.4\" upper=\"0.4\"/><safety_controller k_position=\"30\" k_velocity=\"30\" soft_lower_limit=\"-0.4\" soft_upper_limit=\"0.4\"/></joint><joint name=\"joint2\" type=\"revolute\"><parent link=\"link1\"/><child link=\"link2\"/><origin xyz=\"0 0 0.15\" rpy=\"0 0 0\" /><axis xyz=\"0 1 0\" /><limit effort=\"200\" velocity=\"1.0\" lower=\"-0.4\" upper=\"0.4\"/><safety_controller k_position=\"30\" k_velocity=\"30\" soft_lower_limit=\"-0.4\" soft_upper_limit=\"0.4\"/></joint><joint name=\"joint3\" type=\"revolute\"><parent link=\"link2\"/><child link=\"link3\"/><origin xyz=\"0 0 0.35\" rpy=\"0 0 0\" /><axis xyz=\"0 1 0\" /><limit effort=\"200\" velocity=\"1.0\" lower=\"-0.4\" upper=\"0.4\"/><safety_controller k_position=\"30\" k_velocity=\"30\" soft_lower_limit=\"-0.4\" soft_upper_limit=\"0.4\"/></joint><joint name=\"joint4\" type=\"fixed\"><parent link=\"link3\"/><child link=\"endeff\"/><origin xyz=\"0 0 0.45\" rpy=\"0 0 0\" /></joint></robot>" |
Function Documentation
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 1336 of file test_maps.cpp.
| UnconstrainedEndPoseProblemPtr setup_problem | ( | Initializer & | map, |
| const std::string & | collision_scene = "", |
||
| const std::vector< Initializer > & | links = std::vector<Initializer>() |
||
| ) |
Definition at line 239 of file test_maps.cpp.
| UnconstrainedTimeIndexedProblemPtr setup_time_indexed_problem | ( | Initializer & | map | ) |
Definition at line 278 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testEffPositionXY | |||
| ) |
Definition at line 309 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testEffPosition | |||
| ) |
Definition at line 327 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testEffOrientation | |||
| ) |
Definition at line 358 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testEffAxisAlignment | |||
| ) |
Definition at line 386 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testEffFrame | |||
| ) |
Definition at line 405 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testEffVelocity | |||
| ) |
Definition at line 448 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testDistance | |||
| ) |
Definition at line 476 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testDistanceToLine2D | |||
| ) |
Definition at line 511 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testJointLimit | |||
| ) |
Definition at line 545 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testJointTorqueMinimizationProxy | |||
| ) |
Definition at line 563 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testSphereCollision | |||
| ) |
Definition at line 644 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testJointPose | |||
| ) |
Definition at line 681 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testCoM | |||
| ) |
Definition at line 787 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testContinuousJointPose | |||
| ) |
Definition at line 936 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testIMesh | |||
| ) |
Definition at line 953 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testPoint2Line | |||
| ) |
Definition at line 1036 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testPoint2Plane | |||
| ) |
Definition at line 1061 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testCollisionDistance | |||
| ) |
Definition at line 1093 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testSmoothCollisionDistance | |||
| ) |
Definition at line 1113 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testQuasiStatic | |||
| ) |
Definition at line 1139 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testJointSmoothingBackwardDifference | |||
| ) |
Definition at line 1209 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testAvoidLookAtSphere | |||
| ) |
Definition at line 1260 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testLookAt | |||
| ) |
Definition at line 1288 of file test_maps.cpp.
| TEST | ( | ExoticaTaskMaps | , |
| testManipulability | |||
| ) |
Definition at line 1313 of file test_maps.cpp.
| bool test_hessian | ( | UnconstrainedEndPoseProblemPtr | problem, |
| const double | eps = 1e-5 |
||
| ) |
Definition at line 156 of file test_maps.cpp.
| bool test_jacobian | ( | UnconstrainedEndPoseProblemPtr | problem, |
| const double | eps = 1e-5 |
||
| ) |
Definition at line 115 of file test_maps.cpp.
template<class T >
| bool test_jacobian_time_indexed | ( | std::shared_ptr< T > | problem, |
| TimeIndexedTask & | task, | ||
| int | t, | ||
| const double | eps = 1e-5 |
||
| ) |
Definition at line 204 of file test_maps.cpp.
| bool test_random | ( | UnconstrainedEndPoseProblemPtr | problem | ) |
Definition at line 49 of file test_maps.cpp.
| bool test_random | ( | UnconstrainedTimeIndexedProblemPtr | problem | ) |
Definition at line 68 of file test_maps.cpp.
| bool test_values | ( | Eigen::MatrixXdRefConst | Xref, |
| Eigen::MatrixXdRefConst | Yref, | ||
| Eigen::MatrixXdRefConst | Jref, | ||
| UnconstrainedEndPoseProblemPtr | problem, | ||
| const double | eps = 1e-5 |
||
| ) |
Definition at line 81 of file test_maps.cpp.
Variable Documentation
| constexpr int num_trials_ = 100 |
Definition at line 47 of file test_maps.cpp.
| constexpr bool print_debug_information_ = false |
Definition at line 46 of file test_maps.cpp.
|
static |
Definition at line 44 of file test_maps.cpp.
|
static |
Definition at line 43 of file test_maps.cpp.