Static Public Member Functions | List of all members
prbt_hardware_support::BrakeTestUtils Class Reference

#include <brake_test_utils.h>

Static Public Member Functions

static bool compareJointStatePositions (const sensor_msgs::JointStateConstPtr &msg1, const sensor_msgs::JointStateConstPtr &msg2, const double tol=DEFAULT_JOINT_STATES_COMPARISON_TOLERANCE)
 return true if the joint state positions are equal up to a given tolerance, false otherwise. More...
 
static bool detectRobotMotion (double timeout_s=DEFAULT_ROBOT_MOTION_TIMEOUT_S)
 return true if a robot motion was detected, false otherwise. More...
 
static sensor_msgs::JointStateConstPtr getCurrentJointStates ()
 wait for a single message on the joint_states topic and return it. More...
 

Detailed Description

Definition at line 37 of file brake_test_utils.h.

Member Function Documentation

◆ compareJointStatePositions()

bool prbt_hardware_support::BrakeTestUtils::compareJointStatePositions ( const sensor_msgs::JointStateConstPtr &  msg1,
const sensor_msgs::JointStateConstPtr &  msg2,
const double  tol = DEFAULT_JOINT_STATES_COMPARISON_TOLERANCE 
)
inlinestatic

return true if the joint state positions are equal up to a given tolerance, false otherwise.

Definition at line 93 of file brake_test_utils.h.

◆ detectRobotMotion()

bool prbt_hardware_support::BrakeTestUtils::detectRobotMotion ( double  timeout_s = DEFAULT_ROBOT_MOTION_TIMEOUT_S)
static

return true if a robot motion was detected, false otherwise.

This function periodically checks if the robot has moved by comparing joint positions from the joint_states topic until the timeout is reached.

Definition at line 63 of file brake_test_utils.h.

◆ getCurrentJointStates()

sensor_msgs::JointStateConstPtr prbt_hardware_support::BrakeTestUtils::getCurrentJointStates ( )
inlinestatic

wait for a single message on the joint_states topic and return it.

Exceptions
GetCurrentJointStatesException

Definition at line 82 of file brake_test_utils.h.


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


prbt_hardware_support
Author(s):
autogenerated on Thu Oct 22 2020 03:16:04