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 45 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 49 of file urdf_tests.cpp.

INSTANTIATE_TEST_CASE_P	(	InstantiationName	,
		URDFKinematicsTest	,
		::testing::Values(PARAM_MODEL)
	)

int main	(	int	argc,
		char **	argv
	)

Definition at line 135 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 106 of file urdf_tests.cpp.

std::string vecToString

(

std::vector< double > &

vec

)

Definition at line 53 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.