Implements a test data loader which uses a xml file to store the test data. More...

#include <xml_testdata_loader.h>

Inheritance diagram for pilz_industrial_motion_testutils::XmlTestdataLoader:

Classes
class	AbstractCmdGetterAdapter
	Abstract base class providing a GENERIC getter-function signature which can be used to load DIFFERENT command types (like Ptp, Lin, etc.) from the test data file. More...

Public Member Functions
virtual CircCenterCart	getCircCartCenterCart (const std::string &cmd_name) const override
	Returns the command with the specified name from the test data. More...

virtual CircInterimCart	getCircCartInterimCart (const std::string &cmd_name) const override

virtual CircJointCenterCart	getCircJointCenterCart (const std::string &cmd_name) const override

virtual CircJointInterimCart	getCircJointInterimCart (const std::string &cmd_name) const override

virtual Gripper	getGripper (const std::string &cmd_name) const override
	Returns the command with the specified name from the test data. More...

virtual JointConfiguration	getJoints (const std::string &pos_name, const std::string &group_name) const override

virtual LinCart	getLinCart (const std::string &cmd_name) const override

virtual LinJoint	getLinJoint (const std::string &cmd_name) const override
	Returns the command with the specified name from the test data. More...

virtual LinJointCart	getLinJointCart (const std::string &cmd_name) const override

virtual CartesianConfiguration	getPose (const std::string &pos_name, const std::string &group_name) const override

virtual PtpCart	getPtpCart (const std::string &cmd_name) const override

virtual PtpJoint	getPtpJoint (const std::string &cmd_name) const override
	Returns the command with the specified name from the test data. More...

virtual PtpJointCart	getPtpJointCart (const std::string &cmd_name) const override

virtual Sequence	getSequence (const std::string &cmd_name) const override
	Returns the command with the specified name from the test data. More...

	XmlTestdataLoader (const std::string &path_filename)

	XmlTestdataLoader (const std::string &path_filename, const moveit::core::RobotModelConstPtr &robot_model)

	~XmlTestdataLoader ()

Public Member Functions inherited from pilz_industrial_motion_testutils::TestdataLoader
void	setRobotModel (moveit::core::RobotModelConstPtr robot_model)

	TestdataLoader ()=default

	TestdataLoader (moveit::core::RobotModelConstPtr robot_model)

virtual	~TestdataLoader ()=default

Private Types
using	AbstractCmdGetterUPtr = std::unique_ptr< AbstractCmdGetterAdapter >

Private Member Functions
const pt::ptree::value_type &	findCmd (const std::string &cmd_name, const std::string &cmd_path, const std::string &cmd_key) const
	Use this function to search for a cmd-node with a given name. More...

const pt::ptree::value_type &	findNodeWithName (const boost::property_tree::ptree &tree, const std::string &name, const std::string &key, const std::string &path="") const
	Use this function to search for a node (like an pos or cmd) with a given name. More...

CartesianCenter	getCartesianCenter (const std::string &cmd_name, const std::string &planning_group) const

CartesianInterim	getCartesianInterim (const std::string &cmd_name, const std::string &planning_group) const

JointConfiguration	getJoints (const boost::property_tree::ptree &joints_tree, const std::string &group_name) const

Static Private Member Functions
static std::vector< double >	strVec2doubleVec (std::vector< std::string > &strVec)
	Converts string vector to double vector. More...

Private Attributes
std::map< std::string, AbstractCmdGetterUPtr >	cmd_getter_funcs_

const pt::ptree	empty_tree_ {}

const pt::ptree::value_type	empty_value_type_ {}

std::string	path_filename_

pt::ptree	tree_ {}

Additional Inherited Members
Protected Attributes inherited from pilz_industrial_motion_testutils::TestdataLoader
moveit::core::RobotModelConstPtr	robot_model_

Detailed Description

Implements a test data loader which uses a xml file to store the test data.

The Xml-file has the following structure:

<poses> <pos name="MyTestPos1"> <joints group_name="manipulator">j1 j2 j3 j4 j5 j6</joints> <xyzQuat group_name="manipulator" link_name="prbt_tcp"> x y z wx wy wz w <seed><joints group_name="manipulator">s1 s2 s3 s4 s5 s6</joints></seed> </xyzQuat> <joints group_name="gripper">j_gripper</joints> </pos>

<pos name="MyTestPos2"> <joints group_name="manipulator">j1 j2 j3 j4 j5 j6</joints> <xyzQuat group_name="manipulator" link_name="prbt_tcp">x y z wx wy wz w</xyzQuat> <joints group_name="gripper">j_gripper</joints> </pos> </poses>

<ptps> <ptp name="MyPtp1"> <startPos>MyTestPos1</startPos> <endPos>MyTestPos2</endPos> <vel>0.1</vel> <acc>0.2</acc> </ptp> </ptps>

<lins> <lin name="MyTestLin1"> <planningGroup>manipulator</planningGroup> <targetLink>prbt_tcp</targetLink> <startPos>MyTestPos1</startPos> <endPos>MyTestPos2</endPos> <vel>0.3</vel> <acc>0.4</acc> </lin> </lins>

<circs> <circ name="MyTestCirc1"> <planningGroup>manipulator</planningGroup> <targetLink>prbt_tcp</targetLink> <startPos>MyTestPos1</startPos> <intermediatePos>MyTestPos1</intermediatePos> <centerPos>MyTestPos2</centerPos> <endPos>MyTestPos1</endPos> <vel>0.2</vel> <acc>0.5</acc> </circ> </circs>

</testdata>

Definition at line 102 of file xml_testdata_loader.h.

Member Typedef Documentation

◆ AbstractCmdGetterUPtr

using pilz_industrial_motion_testutils::XmlTestdataLoader::AbstractCmdGetterUPtr = std::unique_ptr<AbstractCmdGetterAdapter>

private

Definition at line 181 of file xml_testdata_loader.h.

Constructor & Destructor Documentation

◆ XmlTestdataLoader() [1/2]

pilz_industrial_motion_testutils::XmlTestdataLoader::XmlTestdataLoader ( const std::string & path_filename )

Definition at line 120 of file xml_testdata_loader.cpp.

◆ XmlTestdataLoader() [2/2]

pilz_industrial_motion_testutils::XmlTestdataLoader::XmlTestdataLoader	(	const std::string &	path_filename,
		const moveit::core::RobotModelConstPtr &	robot_model
	)

Definition at line 149 of file xml_testdata_loader.cpp.

◆ ~XmlTestdataLoader()

pilz_industrial_motion_testutils::XmlTestdataLoader::~XmlTestdataLoader ( )

Definition at line 156 of file xml_testdata_loader.cpp.

Member Function Documentation

◆ findCmd()

const pt::ptree::value_type & pilz_industrial_motion_testutils::XmlTestdataLoader::findCmd	(	const std::string &	cmd_name,
		const std::string &	cmd_path,
		const std::string &	cmd_key
	)		const

private

Use this function to search for a cmd-node with a given name.

Definition at line 357 of file xml_testdata_loader.cpp.

◆ findNodeWithName()

const pt::ptree::value_type & pilz_industrial_motion_testutils::XmlTestdataLoader::findNodeWithName	(	const boost::property_tree::ptree &	tree,
		const std::string &	name,
		const std::string &	key,
		const std::string &	path = `""`
	)		const

private

Use this function to search for a node (like an pos or cmd) with a given name.

Parameters

tree	Tree containing the node.
name	Name of node to look for.

Definition at line 160 of file xml_testdata_loader.cpp.

◆ getCartesianCenter()

CartesianCenter pilz_industrial_motion_testutils::XmlTestdataLoader::getCartesianCenter	(	const std::string &	cmd_name,
		const std::string &	planning_group
	)		const

private

Definition at line 371 of file xml_testdata_loader.cpp.

◆ getCartesianInterim()

CartesianInterim pilz_industrial_motion_testutils::XmlTestdataLoader::getCartesianInterim	(	const std::string &	cmd_name,
		const std::string &	planning_group
	)		const

private

Definition at line 390 of file xml_testdata_loader.cpp.

◆ getCircCartCenterCart()

CircCenterCart pilz_industrial_motion_testutils::XmlTestdataLoader::getCircCartCenterCart ( const std::string & cmd_name ) const

overridevirtual

Returns the command with the specified name from the test data.

Implements pilz_industrial_motion_testutils::TestdataLoader.

Definition at line 409 of file xml_testdata_loader.cpp.

◆ getCircCartInterimCart()

CircInterimCart pilz_industrial_motion_testutils::XmlTestdataLoader::getCircCartInterimCart ( const std::string & cmd_name ) const

overridevirtual

Implements pilz_industrial_motion_testutils::TestdataLoader.

Definition at line 426 of file xml_testdata_loader.cpp.

◆ getCircJointCenterCart()

CircJointCenterCart pilz_industrial_motion_testutils::XmlTestdataLoader::getCircJointCenterCart ( const std::string & cmd_name ) const

overridevirtual

Implements pilz_industrial_motion_testutils::TestdataLoader.

Definition at line 460 of file xml_testdata_loader.cpp.

◆ getCircJointInterimCart()

CircJointInterimCart pilz_industrial_motion_testutils::XmlTestdataLoader::getCircJointInterimCart ( const std::string & cmd_name ) const

overridevirtual

Implements pilz_industrial_motion_testutils::TestdataLoader.

Definition at line 443 of file xml_testdata_loader.cpp.

◆ getGripper()

Gripper pilz_industrial_motion_testutils::XmlTestdataLoader::getGripper ( const std::string & cmd_name ) const

overridevirtual

Returns the command with the specified name from the test data.

Implements pilz_industrial_motion_testutils::TestdataLoader.

Definition at line 518 of file xml_testdata_loader.cpp.

◆ getJoints() [1/2]

JointConfiguration pilz_industrial_motion_testutils::XmlTestdataLoader::getJoints	(	const std::string &	pos_name,
		const std::string &	group_name
	)		const

overridevirtual

Implements pilz_industrial_motion_testutils::TestdataLoader.

Definition at line 203 of file xml_testdata_loader.cpp.

◆ getJoints() [2/2]

JointConfiguration pilz_industrial_motion_testutils::XmlTestdataLoader::getJoints	(	const boost::property_tree::ptree &	joints_tree,
		const std::string &	group_name
	)		const

private

Definition at line 214 of file xml_testdata_loader.cpp.

◆ getLinCart()

LinCart pilz_industrial_motion_testutils::XmlTestdataLoader::getLinCart ( const std::string & cmd_name ) const

overridevirtual

Implements pilz_industrial_motion_testutils::TestdataLoader.

Definition at line 325 of file xml_testdata_loader.cpp.

◆ getLinJoint()

LinJoint pilz_industrial_motion_testutils::XmlTestdataLoader::getLinJoint ( const std::string & cmd_name ) const

overridevirtual

Returns the command with the specified name from the test data.

Implements pilz_industrial_motion_testutils::TestdataLoader.

Definition at line 309 of file xml_testdata_loader.cpp.

◆ getLinJointCart()

LinJointCart pilz_industrial_motion_testutils::XmlTestdataLoader::getLinJointCart ( const std::string & cmd_name ) const

overridevirtual

Implements pilz_industrial_motion_testutils::TestdataLoader.

Definition at line 341 of file xml_testdata_loader.cpp.

◆ getPose()

CartesianConfiguration pilz_industrial_motion_testutils::XmlTestdataLoader::getPose	(	const std::string &	pos_name,
		const std::string &	group_name
	)		const

overridevirtual

Implements pilz_industrial_motion_testutils::TestdataLoader.

Definition at line 229 of file xml_testdata_loader.cpp.

◆ getPtpCart()

PtpCart pilz_industrial_motion_testutils::XmlTestdataLoader::getPtpCart ( const std::string & cmd_name ) const

overridevirtual

Implements pilz_industrial_motion_testutils::TestdataLoader.

Definition at line 293 of file xml_testdata_loader.cpp.

◆ getPtpJoint()

PtpJoint pilz_industrial_motion_testutils::XmlTestdataLoader::getPtpJoint ( const std::string & cmd_name ) const

overridevirtual

Returns the command with the specified name from the test data.

Implements pilz_industrial_motion_testutils::TestdataLoader.

Definition at line 261 of file xml_testdata_loader.cpp.

◆ getPtpJointCart()

PtpJointCart pilz_industrial_motion_testutils::XmlTestdataLoader::getPtpJointCart ( const std::string & cmd_name ) const

overridevirtual

Implements pilz_industrial_motion_testutils::TestdataLoader.

Definition at line 277 of file xml_testdata_loader.cpp.

◆ getSequence()

Sequence pilz_industrial_motion_testutils::XmlTestdataLoader::getSequence ( const std::string & cmd_name ) const

overridevirtual

Returns the command with the specified name from the test data.

Implements pilz_industrial_motion_testutils::TestdataLoader.

Definition at line 477 of file xml_testdata_loader.cpp.

◆ strVec2doubleVec()

std::vector< double > pilz_industrial_motion_testutils::XmlTestdataLoader::strVec2doubleVec ( std::vector< std::string > & strVec )

inlinestaticprivate

Converts string vector to double vector.

Definition at line 195 of file xml_testdata_loader.h.

Member Data Documentation

◆ cmd_getter_funcs_

std::map<std::string, AbstractCmdGetterUPtr> pilz_industrial_motion_testutils::XmlTestdataLoader::cmd_getter_funcs_

private

Stores the mapping between command type and the getter function which have to be called.

Please note: This mapping is only relevant for sequence commands.

Definition at line 188 of file xml_testdata_loader.h.

◆ empty_tree_

const pt::ptree pilz_industrial_motion_testutils::XmlTestdataLoader::empty_tree_ {}

private

Definition at line 192 of file xml_testdata_loader.h.

◆ empty_value_type_

const pt::ptree::value_type pilz_industrial_motion_testutils::XmlTestdataLoader::empty_value_type_ {}

private

Definition at line 191 of file xml_testdata_loader.h.

◆ path_filename_

std::string pilz_industrial_motion_testutils::XmlTestdataLoader::path_filename_

private

Definition at line 178 of file xml_testdata_loader.h.

◆ tree_

pt::ptree pilz_industrial_motion_testutils::XmlTestdataLoader::tree_ {}

private

Definition at line 179 of file xml_testdata_loader.h.

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

Classes

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ AbstractCmdGetterUPtr

Constructor & Destructor Documentation

◆ XmlTestdataLoader() [1/2]

◆ XmlTestdataLoader() [2/2]

◆ ~XmlTestdataLoader()

Member Function Documentation

◆ findCmd()

◆ findNodeWithName()

◆ getCartesianCenter()

◆ getCartesianInterim()

◆ getCircCartCenterCart()

◆ getCircCartInterimCart()

◆ getCircJointCenterCart()

◆ getCircJointInterimCart()

◆ getGripper()

◆ getJoints() [1/2]

◆ getJoints() [2/2]

◆ getLinCart()

◆ getLinJoint()

◆ getLinJointCart()

◆ getPose()

◆ getPtpCart()

◆ getPtpJoint()

◆ getPtpJointCart()

◆ getSequence()

◆ strVec2doubleVec()

Member Data Documentation

◆ cmd_getter_funcs_

◆ empty_tree_

◆ empty_value_type_

◆ path_filename_

◆ tree_