TestKinematicsFanuc Class Reference

Inheritance diagram for TestKinematicsFanuc:

Protected Member Functions
void	SetUp () override
void	TearDown () override

Protected Attributes
std::string	group_name_
robot_model::JointModelGroup *	joint_model_group_
robot_model::RobotModelPtr	robot_model_
robot_state::RobotStatePtr	robot_state_
std::string	root_link_
std::string	tip_link_

Detailed Description

Check ik of opw_kinematics against fk of MoveIt! kinematics.

In this test fixure the aim is to calculate inverse kinematics using opw_kinematics inside the plugin and check this using robot_state.getGlobalLinkTransform("tip_link").

Definition at line 28 of file test_fanuc.cpp.

Member Function Documentation

void TestKinematicsFanuc::SetUp ( )

inlineoverrideprotected

Definition at line 31 of file test_fanuc.cpp.

void TestKinematicsFanuc::TearDown ( )

inlineoverrideprotected

Definition at line 48 of file test_fanuc.cpp.

Member Data Documentation

std::string TestKinematicsFanuc::group_name_

protected

Definition at line 54 of file test_fanuc.cpp.

robot_model::JointModelGroup* TestKinematicsFanuc::joint_model_group_

protected

Definition at line 58 of file test_fanuc.cpp.

robot_model::RobotModelPtr TestKinematicsFanuc::robot_model_

protected

Definition at line 56 of file test_fanuc.cpp.

robot_state::RobotStatePtr TestKinematicsFanuc::robot_state_

protected

Definition at line 57 of file test_fanuc.cpp.

std::string TestKinematicsFanuc::root_link_

protected

Definition at line 52 of file test_fanuc.cpp.

std::string TestKinematicsFanuc::tip_link_

protected

Definition at line 53 of file test_fanuc.cpp.

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

• test_fanuc.cpp