#include "load_test_robot.h"
#include <limits>
#include <ostream>
#include <gtest/gtest.h>
#include <moveit/ompl_interface/detail/state_validity_checker.h>
#include <moveit/ompl_interface/model_based_planning_context.h>
#include <moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h>
#include <moveit/planning_scene/planning_scene.h>
#include <ompl/geometric/SimpleSetup.h>

Include dependency graph for test_state_validity_checker.cpp:

Classes
class	FanucTest

class	PandaValidity

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

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

std::ostream &	operator<< (std::ostream &os, const std::vector< double > &v)
	Pretty print std:vectors. More...

	TEST_F (FanucTest, createStateValidityChecker)

	TEST_F (FanucTest, testJointLimits)

	TEST_F (FanucTest, testPathConstraints)

	TEST_F (FanucTest, testSelfCollision)

	TEST_F (PandaValidity, testConstructor)

	TEST_F (PandaValidity, testJointLimits)

	TEST_F (PandaValidity, testPathConstraints)

	TEST_F (PandaValidity, testSelfCollision)

Variables
constexpr char	LOGNAME [] = "test_state_validity_checker"

constexpr bool	VERBOSE { false }
	This flag sets the verbosity level for the state validity checker. More...

Function Documentation

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 338 of file test_state_validity_checker.cpp.

◆ operator<<()

std::ostream& operator<<	(	std::ostream &	os,
		const std::vector< double > &	v
	)

Pretty print std:vectors.

Definition at line 71 of file test_state_validity_checker.cpp.

◆ TEST_F() [1/8]

TEST_F	(	FanucTest	,
		createStateValidityChecker
	)

Definition at line 311 of file test_state_validity_checker.cpp.

◆ TEST_F() [2/8]

TEST_F	(	FanucTest	,
		testJointLimits
	)

Definition at line 316 of file test_state_validity_checker.cpp.

◆ TEST_F() [3/8]

TEST_F	(	FanucTest	,
		testPathConstraints
	)

Definition at line 329 of file test_state_validity_checker.cpp.

◆ TEST_F() [4/8]

TEST_F	(	FanucTest	,
		testSelfCollision
	)

Definition at line 322 of file test_state_validity_checker.cpp.

◆ TEST_F() [5/8]

TEST_F	(	PandaValidity	,
		testConstructor
	)

Definition at line 274 of file test_state_validity_checker.cpp.

◆ TEST_F() [6/8]

TEST_F	(	PandaValidity	,
		testJointLimits
	)

Definition at line 279 of file test_state_validity_checker.cpp.

◆ TEST_F() [7/8]

TEST_F	(	PandaValidity	,
		testPathConstraints
	)

Definition at line 293 of file test_state_validity_checker.cpp.

◆ TEST_F() [8/8]

TEST_F	(	PandaValidity	,
		testSelfCollision
	)

Definition at line 286 of file test_state_validity_checker.cpp.

Variable Documentation

◆ LOGNAME

constexpr char LOGNAME[] = "test_state_validity_checker"

constexpr

Definition at line 68 of file test_state_validity_checker.cpp.

◆ VERBOSE

constexpr bool VERBOSE { false }

constexpr

This flag sets the verbosity level for the state validity checker.

This test checks the basics of a StateValidityChecker:

Can we create one?
States inside and outside joint limits.
States that are in self-collision.
Position constraints on the robot's end-effector link.

It does not yet test:

Collision with objects in the environment.
Orientation constraints, visibility constraints, ...
A user-specified feasibility function in the planning scene.

The test do show what is minimally required to create a working StateValidityChecker.

Definition at line 66 of file test_state_validity_checker.cpp.

Classes

Functions

Variables