Public Types | Public Member Functions | Public Attributes | Static Public Attributes | Private Attributes | List of all members
AcceptanceTest_Hiro Class Reference

Public Types

typedef std::vector< DVEC > DMAT
 
typedef std::vector< double > DVEC
 

Public Member Functions

 AcceptanceTest_Hiro (std::string name="Hironx(Robot)0", std::string url="")
 
void move_armbyarm_jointangles (AbstAcceptanceTest &test_client)
 
void move_armbyarm_pose (AbstAcceptanceTest &test_client)
 
void move_head (AbstAcceptanceTest &test_client)
 
void move_torso (AbstAcceptanceTest &test_client)
 
void movearms_together (AbstAcceptanceTest &test_client)
 
void overwrite_arm (AbstAcceptanceTest &test_client)
 
void overwrite_torso (AbstAcceptanceTest &test_client)
 
std::string retName ()
 
void run_test_ros (bool do_wait_input=false)
 
void run_tests (AbstAcceptanceTest &test_client, bool do_wait_input=false)
 
void set_pose_relative (AbstAcceptanceTest &test_client)
 
void show_workspace (AbstAcceptanceTest &test_client)
 
void wait_input (std::string msg, bool do_wait_input=false)
 

Public Attributes

DVEC POS_L_X_FAR_Y_FAR
 
DVEC POS_L_X_NEAR_Y_FAR
 
DVEC POS_R_X_FAR_Y_FAR
 
DVEC POS_R_X_NEAR_Y_FAR
 
DVEC POSITIONS_LARM_DEG_DOWN
 
DVEC POSITIONS_LARM_DEG_UP
 
DVEC POSITIONS_LARM_DEG_UP_SYNC
 
DVEC POSITIONS_RARM_DEG_DOWN
 
DVEC POSITIONS_RARM_DEG_UP_SYNC
 
DMAT POSITIONS_TORSO_DEG
 
DMAT ROTATION_ANGLES_HEAD_1
 
DMAT ROTATION_ANGLES_HEAD_2
 
DVEC RPY_L_X_FAR_Y_FAR
 
DVEC RPY_L_X_NEAR_Y_FAR
 
DVEC RPY_R_X_FAR_Y_FAR
 
DVEC RPY_R_X_NEAR_Y_FAR
 

Static Public Attributes

static const double DURATION_EACH_SMALLINCREMENT = 0.1
 
static const int DURATION_TOTAL_SMALLINCREMENT = 30
 
static const double pos_l_x_far_y_far [3] = {0.47548142379781055, 0.17430276793604782, 1.0376878025614884}
 
static const double pos_l_x_near_y_far [3] = {0.326, 0.474, 1.038}
 
static const double pos_r_x_far_y_far [3] = {0.4755337947019357, -0.17242322190721648, 1.0476395479774052}
 
static const double pos_r_x_near_y_far [3] = {0.326, -0.472, 1.048}
 
static const double positions_larm_deg_down [6] = {6.196, -5.311, -73.086, -15.287, -12.906, -2.957}
 
static const double positions_larm_deg_up [6] = {-4.697, -2.012, -117.108, -17.180, 29.146, -3.739}
 
static const double positions_larm_deg_up_sync [6] = {-4.695, -2.009, -117.103, -17.178, 29.138, -3.738}
 
static const double positions_rarm_deg_down [6] = {-4.949, -3.372, -80.050, 15.067, -7.734, 3.086}
 
static const double positions_rarm_deg_up_sync [6] = {4.695, -2.009, -117.103, 17.178, 29.138, 3.738}
 
static const double positions_torso_deg [2][1] = { {130.0}, {-130.0}}
 
static const double R_Z_SMALLINCREMENT = 0.0001
 
static const double rotation_angles_head_1 [2][2] = { {0.1, 0.0}, {50.0, 10.0}}
 
static const double rotation_angles_head_2 [2][2] = { {-50, -10}, {0, 0}}
 
static const double rpy_l_x_far_y_far [3] = {-3.075954857224205, -1.5690261926181046, 3.0757659493049574}
 
static const double rpy_l_x_near_y_far [3] = {-3.075, -1.569, 3.074}
 
static const double rpy_r_x_far_y_far [3] = {3.0715850722714944, -1.5690204449882248, -3.071395243174742}
 
static const double rpy_r_x_near_y_far [3] = {3.073, -1.569, -3.072}
 
static const int SLEEP_OVERWRITE = 2
 
static const int SLEEP_TIME = 2
 
static const double TASK_DURATION_DEFAULT = 4.0
 
static const double TASK_DURATION_HEAD = AcceptanceTest_Hiro::TASK_DURATION_DEFAULT
 
static const double TASK_DURATION_TORSO = AcceptanceTest_Hiro::TASK_DURATION_DEFAULT
 

Private Attributes

AcceptanceTestRos acceptance_ros_client
 
ROS_Client ros
 
const std::string rtm_robotname
 
const std::string rtm_url
 

Detailed Description

Definition at line 54 of file acceptancetest_hironx.cpp.

Member Typedef Documentation

◆ DMAT

typedef std::vector<DVEC> AcceptanceTest_Hiro::DMAT

Definition at line 76 of file acceptancetest_hironx.cpp.

◆ DVEC

typedef std::vector<double> AcceptanceTest_Hiro::DVEC

Definition at line 75 of file acceptancetest_hironx.cpp.

Constructor & Destructor Documentation

◆ AcceptanceTest_Hiro()

AcceptanceTest_Hiro::AcceptanceTest_Hiro ( std::string  name = "Hironx(Robot)0",
std::string  url = "" 
)
inline

Definition at line 129 of file acceptancetest_hironx.cpp.

Member Function Documentation

◆ move_armbyarm_jointangles()

void AcceptanceTest_Hiro::move_armbyarm_jointangles ( AbstAcceptanceTest &  test_client)
inline

Definition at line 248 of file acceptancetest_hironx.cpp.

◆ move_armbyarm_pose()

void AcceptanceTest_Hiro::move_armbyarm_pose ( AbstAcceptanceTest &  test_client)
inline

Definition at line 262 of file acceptancetest_hironx.cpp.

◆ move_head()

void AcceptanceTest_Hiro::move_head ( AbstAcceptanceTest &  test_client)
inline

Definition at line 301 of file acceptancetest_hironx.cpp.

◆ move_torso()

void AcceptanceTest_Hiro::move_torso ( AbstAcceptanceTest &  test_client)
inline

Definition at line 317 of file acceptancetest_hironx.cpp.

◆ movearms_together()

void AcceptanceTest_Hiro::movearms_together ( AbstAcceptanceTest &  test_client)
inline

Definition at line 267 of file acceptancetest_hironx.cpp.

◆ overwrite_arm()

void AcceptanceTest_Hiro::overwrite_arm ( AbstAcceptanceTest &  test_client)
inline

Definition at line 341 of file acceptancetest_hironx.cpp.

◆ overwrite_torso()

void AcceptanceTest_Hiro::overwrite_torso ( AbstAcceptanceTest &  test_client)
inline

Definition at line 327 of file acceptancetest_hironx.cpp.

◆ retName()

std::string AcceptanceTest_Hiro::retName ( )
inline

Definition at line 151 of file acceptancetest_hironx.cpp.

◆ run_test_ros()

void AcceptanceTest_Hiro::run_test_ros ( bool  do_wait_input = false)
inline

Definition at line 172 of file acceptancetest_hironx.cpp.

◆ run_tests()

void AcceptanceTest_Hiro::run_tests ( AbstAcceptanceTest &  test_client,
bool  do_wait_input = false 
)
inline

Definition at line 183 of file acceptancetest_hironx.cpp.

◆ set_pose_relative()

void AcceptanceTest_Hiro::set_pose_relative ( AbstAcceptanceTest &  test_client)
inline

Definition at line 282 of file acceptancetest_hironx.cpp.

◆ show_workspace()

void AcceptanceTest_Hiro::show_workspace ( AbstAcceptanceTest &  test_client)
inline

Definition at line 362 of file acceptancetest_hironx.cpp.

◆ wait_input()

void AcceptanceTest_Hiro::wait_input ( std::string  msg,
bool  do_wait_input = false 
)
inline

Definition at line 156 of file acceptancetest_hironx.cpp.

Member Data Documentation

◆ acceptance_ros_client

AcceptanceTestRos AcceptanceTest_Hiro::acceptance_ros_client
private

Definition at line 386 of file acceptancetest_hironx.cpp.

◆ DURATION_EACH_SMALLINCREMENT

const double AcceptanceTest_Hiro::DURATION_EACH_SMALLINCREMENT = 0.1
static

Definition at line 100 of file acceptancetest_hironx.cpp.

◆ DURATION_TOTAL_SMALLINCREMENT

const int AcceptanceTest_Hiro::DURATION_TOTAL_SMALLINCREMENT = 30
static

Definition at line 105 of file acceptancetest_hironx.cpp.

◆ pos_l_x_far_y_far

const double AcceptanceTest_Hiro::pos_l_x_far_y_far = {0.47548142379781055, 0.17430276793604782, 1.0376878025614884}
static

Definition at line 93 of file acceptancetest_hironx.cpp.

◆ POS_L_X_FAR_Y_FAR

DVEC AcceptanceTest_Hiro::POS_L_X_FAR_Y_FAR

Definition at line 122 of file acceptancetest_hironx.cpp.

◆ pos_l_x_near_y_far

const double AcceptanceTest_Hiro::pos_l_x_near_y_far = {0.326, 0.474, 1.038}
static

Definition at line 88 of file acceptancetest_hironx.cpp.

◆ POS_L_X_NEAR_Y_FAR

DVEC AcceptanceTest_Hiro::POS_L_X_NEAR_Y_FAR

Definition at line 117 of file acceptancetest_hironx.cpp.

◆ pos_r_x_far_y_far

const double AcceptanceTest_Hiro::pos_r_x_far_y_far = {0.4755337947019357, -0.17242322190721648, 1.0476395479774052}
static

Definition at line 95 of file acceptancetest_hironx.cpp.

◆ POS_R_X_FAR_Y_FAR

DVEC AcceptanceTest_Hiro::POS_R_X_FAR_Y_FAR

Definition at line 124 of file acceptancetest_hironx.cpp.

◆ pos_r_x_near_y_far

const double AcceptanceTest_Hiro::pos_r_x_near_y_far = {0.326, -0.472, 1.048}
static

Definition at line 90 of file acceptancetest_hironx.cpp.

◆ POS_R_X_NEAR_Y_FAR

DVEC AcceptanceTest_Hiro::POS_R_X_NEAR_Y_FAR

Definition at line 119 of file acceptancetest_hironx.cpp.

◆ positions_larm_deg_down

const double AcceptanceTest_Hiro::positions_larm_deg_down = {6.196, -5.311, -73.086, -15.287, -12.906, -2.957}
static

Definition at line 79 of file acceptancetest_hironx.cpp.

◆ POSITIONS_LARM_DEG_DOWN

DVEC AcceptanceTest_Hiro::POSITIONS_LARM_DEG_DOWN

Definition at line 108 of file acceptancetest_hironx.cpp.

◆ positions_larm_deg_up

const double AcceptanceTest_Hiro::positions_larm_deg_up = {-4.697, -2.012, -117.108, -17.180, 29.146, -3.739}
static

Definition at line 78 of file acceptancetest_hironx.cpp.

◆ POSITIONS_LARM_DEG_UP

DVEC AcceptanceTest_Hiro::POSITIONS_LARM_DEG_UP

Definition at line 107 of file acceptancetest_hironx.cpp.

◆ positions_larm_deg_up_sync

const double AcceptanceTest_Hiro::positions_larm_deg_up_sync = {-4.695, -2.009, -117.103, -17.178, 29.138, -3.738}
static

Definition at line 81 of file acceptancetest_hironx.cpp.

◆ POSITIONS_LARM_DEG_UP_SYNC

DVEC AcceptanceTest_Hiro::POSITIONS_LARM_DEG_UP_SYNC

Definition at line 110 of file acceptancetest_hironx.cpp.

◆ positions_rarm_deg_down

const double AcceptanceTest_Hiro::positions_rarm_deg_down = {-4.949, -3.372, -80.050, 15.067, -7.734, 3.086}
static

Definition at line 80 of file acceptancetest_hironx.cpp.

◆ POSITIONS_RARM_DEG_DOWN

DVEC AcceptanceTest_Hiro::POSITIONS_RARM_DEG_DOWN

Definition at line 109 of file acceptancetest_hironx.cpp.

◆ positions_rarm_deg_up_sync

const double AcceptanceTest_Hiro::positions_rarm_deg_up_sync = {4.695, -2.009, -117.103, 17.178, 29.138, 3.738}
static

Definition at line 82 of file acceptancetest_hironx.cpp.

◆ POSITIONS_RARM_DEG_UP_SYNC

DVEC AcceptanceTest_Hiro::POSITIONS_RARM_DEG_UP_SYNC

Definition at line 111 of file acceptancetest_hironx.cpp.

◆ positions_torso_deg

const double AcceptanceTest_Hiro::positions_torso_deg = { {130.0}, {-130.0}}
static

Definition at line 85 of file acceptancetest_hironx.cpp.

◆ POSITIONS_TORSO_DEG

DMAT AcceptanceTest_Hiro::POSITIONS_TORSO_DEG

Definition at line 114 of file acceptancetest_hironx.cpp.

◆ R_Z_SMALLINCREMENT

const double AcceptanceTest_Hiro::R_Z_SMALLINCREMENT = 0.0001
static

Definition at line 86 of file acceptancetest_hironx.cpp.

◆ ros

ROS_Client AcceptanceTest_Hiro::ros
private

Definition at line 385 of file acceptancetest_hironx.cpp.

◆ rotation_angles_head_1

const double AcceptanceTest_Hiro::rotation_angles_head_1 = { {0.1, 0.0}, {50.0, 10.0}}
static

Definition at line 83 of file acceptancetest_hironx.cpp.

◆ ROTATION_ANGLES_HEAD_1

DMAT AcceptanceTest_Hiro::ROTATION_ANGLES_HEAD_1

Definition at line 112 of file acceptancetest_hironx.cpp.

◆ rotation_angles_head_2

const double AcceptanceTest_Hiro::rotation_angles_head_2 = { {-50, -10}, {0, 0}}
static

Definition at line 84 of file acceptancetest_hironx.cpp.

◆ ROTATION_ANGLES_HEAD_2

DMAT AcceptanceTest_Hiro::ROTATION_ANGLES_HEAD_2

Definition at line 113 of file acceptancetest_hironx.cpp.

◆ rpy_l_x_far_y_far

const double AcceptanceTest_Hiro::rpy_l_x_far_y_far = {-3.075954857224205, -1.5690261926181046, 3.0757659493049574}
static

Definition at line 94 of file acceptancetest_hironx.cpp.

◆ RPY_L_X_FAR_Y_FAR

DVEC AcceptanceTest_Hiro::RPY_L_X_FAR_Y_FAR

Definition at line 123 of file acceptancetest_hironx.cpp.

◆ rpy_l_x_near_y_far

const double AcceptanceTest_Hiro::rpy_l_x_near_y_far = {-3.075, -1.569, 3.074}
static

Definition at line 89 of file acceptancetest_hironx.cpp.

◆ RPY_L_X_NEAR_Y_FAR

DVEC AcceptanceTest_Hiro::RPY_L_X_NEAR_Y_FAR

Definition at line 118 of file acceptancetest_hironx.cpp.

◆ rpy_r_x_far_y_far

const double AcceptanceTest_Hiro::rpy_r_x_far_y_far = {3.0715850722714944, -1.5690204449882248, -3.071395243174742}
static

Definition at line 96 of file acceptancetest_hironx.cpp.

◆ RPY_R_X_FAR_Y_FAR

DVEC AcceptanceTest_Hiro::RPY_R_X_FAR_Y_FAR

Definition at line 125 of file acceptancetest_hironx.cpp.

◆ rpy_r_x_near_y_far

const double AcceptanceTest_Hiro::rpy_r_x_near_y_far = {3.073, -1.569, -3.072}
static

Definition at line 91 of file acceptancetest_hironx.cpp.

◆ RPY_R_X_NEAR_Y_FAR

DVEC AcceptanceTest_Hiro::RPY_R_X_NEAR_Y_FAR

Definition at line 120 of file acceptancetest_hironx.cpp.

◆ rtm_robotname

const std::string AcceptanceTest_Hiro::rtm_robotname
private

Definition at line 382 of file acceptancetest_hironx.cpp.

◆ rtm_url

const std::string AcceptanceTest_Hiro::rtm_url
private

Definition at line 383 of file acceptancetest_hironx.cpp.

◆ SLEEP_OVERWRITE

const int AcceptanceTest_Hiro::SLEEP_OVERWRITE = 2
static

Definition at line 103 of file acceptancetest_hironx.cpp.

◆ SLEEP_TIME

const int AcceptanceTest_Hiro::SLEEP_TIME = 2
static

Definition at line 102 of file acceptancetest_hironx.cpp.

◆ TASK_DURATION_DEFAULT

const double AcceptanceTest_Hiro::TASK_DURATION_DEFAULT = 4.0
static

Definition at line 98 of file acceptancetest_hironx.cpp.

◆ TASK_DURATION_HEAD

const double AcceptanceTest_Hiro::TASK_DURATION_HEAD = AcceptanceTest_Hiro::TASK_DURATION_DEFAULT
static

Definition at line 101 of file acceptancetest_hironx.cpp.

◆ TASK_DURATION_TORSO

const double AcceptanceTest_Hiro::TASK_DURATION_TORSO = AcceptanceTest_Hiro::TASK_DURATION_DEFAULT
static

Definition at line 99 of file acceptancetest_hironx.cpp.

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

hironx_ros_bridge
Author(s): Kei Okada , Isaac I.Y. Saito
autogenerated on Mon Feb 28 2022 23:45:15