#include <moveit/kinematic_constraints/kinematic_constraint.h>
#include <gtest/gtest.h>
#include <urdf_parser/urdf_parser.h>
#include <tf2_eigen/tf2_eigen.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <moveit/utils/robot_model_test_utils.h>
#include <boost/math/constants/constants.hpp>

Include dependency graph for test_orientation_constraints.cpp:

Classes
class	FloatingJointRobot

class	SphericalRobot

Functions
int	main (int argc, char **argv)

Eigen::Quaterniond	rotation_vector_to_quat (double rx, double ry, double rz)

void	setRobotEndEffectorOrientation (moveit::core::RobotState &robot_state, const Eigen::Quaterniond &quat)

	TEST_F (FloatingJointRobot, OrientationConstraintsParameterization)

	TEST_F (FloatingJointRobot, TestDefaultParameterization)

	TEST_F (SphericalRobot, Test1)

	TEST_F (SphericalRobot, Test2)

	TEST_F (SphericalRobot, Test3)

	TEST_F (SphericalRobot, Test4)

	TEST_F (SphericalRobot, Test5)

Eigen::Quaterniond	xyz_intrinsix_to_quat (double rx, double ry, double rz)

Function Documentation

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 477 of file test_orientation_constraints.cpp.

◆ rotation_vector_to_quat()

Eigen::Quaterniond rotation_vector_to_quat	(	double	rx,
		double	ry,
		double	rz
	)

inline

Helper function to create a quaternion from a rotation vector.

Definition at line 135 of file test_orientation_constraints.cpp.

◆ setRobotEndEffectorOrientation()

void setRobotEndEffectorOrientation	(	moveit::core::RobotState &	robot_state,
		const Eigen::Quaterniond &	quat
	)

Helper function to set the orientation of the robot end-effector for the FloatingJointRobot.

Definition at line 143 of file test_orientation_constraints.cpp.

◆ TEST_F() [1/7]

TEST_F	(	FloatingJointRobot	,
		OrientationConstraintsParameterization
	)

Definition at line 379 of file test_orientation_constraints.cpp.

◆ TEST_F() [2/7]

TEST_F	(	FloatingJointRobot	,
		TestDefaultParameterization
	)

Definition at line 351 of file test_orientation_constraints.cpp.

◆ TEST_F() [3/7]

TEST_F	(	SphericalRobot	,
		Test1
	)

Definition at line 151 of file test_orientation_constraints.cpp.

◆ TEST_F() [4/7]

TEST_F	(	SphericalRobot	,
		Test2
	)

Definition at line 178 of file test_orientation_constraints.cpp.

◆ TEST_F() [5/7]

TEST_F	(	SphericalRobot	,
		Test3
	)

Definition at line 223 of file test_orientation_constraints.cpp.

◆ TEST_F() [6/7]

TEST_F	(	SphericalRobot	,
		Test4
	)

Definition at line 271 of file test_orientation_constraints.cpp.

◆ TEST_F() [7/7]

TEST_F	(	SphericalRobot	,
		Test5
	)

Definition at line 325 of file test_orientation_constraints.cpp.

◆ xyz_intrinsix_to_quat()

Eigen::Quaterniond xyz_intrinsix_to_quat	(	double	rx,
		double	ry,
		double	rz
	)