Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
TestStateValidityChecker Class Reference

Generic implementation of the tests that can be executed on different robots. More...

Inheritance diagram for TestStateValidityChecker:
Inheritance graph
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Public Member Functions

void testConstructor ()
 
void testJointLimits (const std::vector< double > &position_in_limits)
 
void testPathConstraints (const std::vector< double > &position_in_joint_limits)
 
void testSelfCollision (const std::vector< double > &position_in_self_collision)
 
 TestStateValidityChecker (const std::string &robot_name, const std::string &group_name)
 

Protected Member Functions

moveit_msgs::PositionConstraint createPositionConstraint (std::array< double, 3 > position, std::array< double, 3 > dimensions)
 Helper function to create a position constraint. More...
 
void SetUp () override
 
void setupPlanningContext ()
 
void setupStateSpace ()
 
- Protected Member Functions inherited from ompl_interface_testing::LoadTestRobot
 LoadTestRobot (const std::string &robot_name, const std::string &group_name)
 

Protected Attributes

ompl_interface::ModelBasedPlanningContextPtr planning_context_
 
ompl_interface::ModelBasedPlanningContextSpecification planning_context_spec_
 
planning_scene::PlanningScenePtr planning_scene_
 
ompl_interface::ModelBasedStateSpacePtr state_space_
 
- Protected Attributes inherited from ompl_interface_testing::LoadTestRobot
std::string base_link_name_
 
std::string ee_link_name_
 
const std::string group_name_
 
const robot_state::JointModelGroup * joint_model_group_
 
std::size_t num_dofs_
 
moveit::core::RobotModelPtr robot_model_
 
const std::string robot_name_
 
robot_state::RobotStatePtr robot_state_
 

Detailed Description

Generic implementation of the tests that can be executed on different robots.

Definition at line 81 of file test_state_validity_checker.cpp.

Constructor & Destructor Documentation

◆ TestStateValidityChecker()

TestStateValidityChecker::TestStateValidityChecker ( const std::string &  robot_name,
const std::string &  group_name 
)
inline

Definition at line 84 of file test_state_validity_checker.cpp.

Member Function Documentation

◆ createPositionConstraint()

moveit_msgs::PositionConstraint TestStateValidityChecker::createPositionConstraint ( std::array< double, 3 >  position,
std::array< double, 3 >  dimensions 
)
inlineprotected

Helper function to create a position constraint.

Definition at line 229 of file test_state_validity_checker.cpp.

◆ SetUp()

void TestStateValidityChecker::SetUp ( )
inlineoverrideprotected

Definition at line 198 of file test_state_validity_checker.cpp.

◆ setupPlanningContext()

void TestStateValidityChecker::setupPlanningContext ( )
inlineprotected

Definition at line 212 of file test_state_validity_checker.cpp.

◆ setupStateSpace()

void TestStateValidityChecker::setupStateSpace ( )
inlineprotected

Definition at line 205 of file test_state_validity_checker.cpp.

◆ testConstructor()

void TestStateValidityChecker::testConstructor ( )
inline

Definition at line 93 of file test_state_validity_checker.cpp.

◆ testJointLimits()

void TestStateValidityChecker::testJointLimits ( const std::vector< double > &  position_in_limits)
inline

This test takes a state that is inside the joint limits and collision free as input.

Definition at line 100 of file test_state_validity_checker.cpp.

◆ testPathConstraints()

void TestStateValidityChecker::testPathConstraints ( const std::vector< double > &  position_in_joint_limits)
inline

Definition at line 151 of file test_state_validity_checker.cpp.

◆ testSelfCollision()

void TestStateValidityChecker::testSelfCollision ( const std::vector< double > &  position_in_self_collision)
inline

This test takes a state that is known to be in self-collision and inside the joint limits as input.

Definition at line 129 of file test_state_validity_checker.cpp.

Member Data Documentation

◆ planning_context_

ompl_interface::ModelBasedPlanningContextPtr TestStateValidityChecker::planning_context_
protected

Definition at line 259 of file test_state_validity_checker.cpp.

◆ planning_context_spec_

ompl_interface::ModelBasedPlanningContextSpecification TestStateValidityChecker::planning_context_spec_
protected

Definition at line 258 of file test_state_validity_checker.cpp.

◆ planning_scene_

planning_scene::PlanningScenePtr TestStateValidityChecker::planning_scene_
protected

Definition at line 260 of file test_state_validity_checker.cpp.

◆ state_space_

ompl_interface::ModelBasedStateSpacePtr TestStateValidityChecker::state_space_
protected

Definition at line 257 of file test_state_validity_checker.cpp.

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

ompl
Author(s): Ioan Sucan
autogenerated on Sat May 3 2025 02:26:39