Classes | Macros | Typedefs | Functions | Variables
urdf_tests.cpp File Reference
#include "ros/ros.h"
#include <gtest/gtest.h>
#include <Eigen/Core>
#include <Eigen/Dense>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <math.h>
Include dependency graph for urdf_tests.cpp:

Go to the source code of this file.

Classes

class  URDFKinematicsTest
 test fixture More...
 

Macros

#define _USE_MATH_DEFINES
 

Typedefs

typedef std::tuple< std::string, std::vector< double >, Eigen::Vector3d > TestDataPoint
 

Functions

std::vector< double > getJoints (TestDataPoint &tdp)
 
std::string getName (TestDataPoint &tdp)
 
Eigen::Vector3d getPos (TestDataPoint &tdp)
 
 INSTANTIATE_TEST_CASE_P (InstantiationName, URDFKinematicsTest,::testing::Values(PARAM_MODEL),)
 
int main (int argc, char **argv)
 
 TEST_P (URDFKinematicsTest, forwardKinematics)
 test the kinematics of urdf model More...
 
std::string vecToString (std::vector< double > &vec)
 

Variables

const std::string ARM_GROUP_NAME { "arm_group_name" }
 
const std::string ARM_GROUP_TIP_LINK_NAME { "arm_tip_link" }
 
static constexpr double DELTA { 1.0e-10 }
 
static constexpr double L0 { 0.2604 }
 
static constexpr double L1 { 0.3500 }
 
static constexpr double L2 { 0.3070 }
 
static constexpr double L3 { 0.0840 }
 
const std::string PARAM_MODEL { "robot_description" }
 

Macro Definition Documentation

#define _USE_MATH_DEFINES

Definition at line 25 of file urdf_tests.cpp.

Typedef Documentation

typedef std::tuple<std::string, std::vector<double>, Eigen::Vector3d> TestDataPoint

Definition at line 39 of file urdf_tests.cpp.

Function Documentation

std::vector<double> getJoints ( TestDataPoint tdp)
inline

Definition at line 46 of file urdf_tests.cpp.

std::string getName ( TestDataPoint tdp)
inline

Definition at line 41 of file urdf_tests.cpp.

Eigen::Vector3d getPos ( TestDataPoint tdp)
inline

Definition at line 51 of file urdf_tests.cpp.

INSTANTIATE_TEST_CASE_P ( InstantiationName  ,
URDFKinematicsTest  ,
::testing::Values(PARAM_MODEL  
)
int main ( int  argc,
char **  argv 
)

Definition at line 147 of file urdf_tests.cpp.

TEST_P ( URDFKinematicsTest  ,
forwardKinematics   
)

test the kinematics of urdf model

Assures that the forward kinematics behave as expected. This is done by looping over multiple test data points and checking the tcp position (not the pose!).

Definition at line 117 of file urdf_tests.cpp.

std::string vecToString ( std::vector< double > &  vec)

Definition at line 56 of file urdf_tests.cpp.

Variable Documentation

const std::string ARM_GROUP_NAME { "arm_group_name" }

Definition at line 28 of file urdf_tests.cpp.

const std::string ARM_GROUP_TIP_LINK_NAME { "arm_tip_link" }

Definition at line 29 of file urdf_tests.cpp.

constexpr double DELTA { 1.0e-10 }
static

Definition at line 35 of file urdf_tests.cpp.

constexpr double L0 { 0.2604 }
static

Definition at line 31 of file urdf_tests.cpp.

constexpr double L1 { 0.3500 }
static

Definition at line 32 of file urdf_tests.cpp.

constexpr double L2 { 0.3070 }
static

Definition at line 33 of file urdf_tests.cpp.

constexpr double L3 { 0.0840 }
static

Definition at line 34 of file urdf_tests.cpp.

const std::string PARAM_MODEL { "robot_description" }

Definition at line 37 of file urdf_tests.cpp.



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autogenerated on Mon May 3 2021 02:19:29