Classes
class	BaseCmd

class	CartesianConfiguration
	Class to define a robot configuration in space with the help of cartesian coordinates. More...

class	CartesianPathConstraintsBuilder
	Helper class to build moveit_msgs::Constraints from a given configuration. More...

class	Center
	Class to define the center point of the circle on which the robot is supposed to move via circ command. More...

class	Circ
	Data class storing all information regarding a Circ command. More...

class	CircAuxiliary
	Base class to define an auxiliary point needed to specify circ commands. More...

class	CmdGetterAdapter

class	CmdReader

class	GoalConstraintMsgConvertible
	Interface class to express that a derived class can be converted into a moveit_msgs::Constaints. More...

class	Gripper

class	Interim
	Class to define a point on the circle on which the robot is supposed to move via circ command. More...

class	JointConfiguration
	Class to define a robot configuration in space with the help of joint values. More...

class	JointConfigurationException

class	Lin
	Data class storing all information regarding a linear command. More...

class	MotionCmd
	Base class for commands storing all general information of a command. More...

class	MotionPlanRequestConvertible
	Interface class to express that a derived class can be converted into a planning_interface::MotionPlanRequest. More...

class	Ptp
	Data class storing all information regarding a Ptp command. More...

class	RobotConfiguration
	Class to define robot configuration in space. More...

class	RobotStateMsgConvertible
	Interface class to express that a derived class can be converted into a moveit_msgs::RobotState. More...

class	Sequence
	Data class storing all information regarding a Sequence command. More...

class	TestdataLoader
	Abstract base class describing the interface to access test data like robot poses and robot commands. More...

class	TestDataLoaderReadingException

class	ToBaseVisitor
	Visitor returning not the specific command type but the base type. More...

class	ToReqVisitor
	Visitor transforming the stored command into a MotionPlanRequest. More...

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

Typedefs
using	CartesianCenter = Center< CartesianConfiguration, CartesianPathConstraintsBuilder >

using	CartesianInterim = Interim< CartesianConfiguration, CartesianPathConstraintsBuilder >

typedef Circ< CartesianConfiguration, CartesianCenter, CartesianConfiguration >	CircCenterCart

typedef Circ< CartesianConfiguration, CartesianInterim, CartesianConfiguration >	CircInterimCart

typedef Circ< JointConfiguration, CartesianCenter, JointConfiguration >	CircJointCenterCart

typedef Circ< JointConfiguration, CartesianInterim, JointConfiguration >	CircJointInterimCart

typedef boost::variant< PtpJoint, PtpJointCart, PtpCart, LinJoint, LinCart, CircCenterCart, CircInterimCart, CircJointCenterCart, CircJointInterimCart, Gripper >	CmdVariant

using	CreateJointNameFunc = std::function< std::string(const size_t &)>

typedef Lin< CartesianConfiguration, CartesianConfiguration >	LinCart

typedef Lin< JointConfiguration, JointConfiguration >	LinJoint

typedef Lin< JointConfiguration, CartesianConfiguration >	LinJointCart

using	MotionCmdUPtr = std::unique_ptr< MotionCmd >

typedef Ptp< CartesianConfiguration, CartesianConfiguration >	PtpCart

typedef Ptp< JointConfiguration, JointConfiguration >	PtpJoint

typedef Ptp< JointConfiguration, CartesianConfiguration >	PtpJointCart

using	TestdataLoaderUPtr = std::unique_ptr< TestdataLoader >

using	XmlTestDataLoaderUPtr = std::unique_ptr< TestdataLoader >

Functions
::testing::AssertionResult	isAtExpectedPosition (const robot_state::RobotState &expected, const robot_state::RobotState &actual, const double epsilon, const std::string &group_name="")

std::ostream &	operator<< (std::ostream &, const CartesianConfiguration &)

std::ostream &	operator<< (std::ostream &, const JointConfiguration &)

Variables
const std::string	ACC_STR { "acc" }

const std::string	BLEND_RADIUS_PATH_STR { XML_ATTR_STR + ".blend_radius" }

const std::string	BLEND_STR { "blend" }

const std::string	CENTER_POS_STR { "centerPos" }

const std::string	CIRC_STR { "circ" }

const std::string	CIRCS_PATH_STR { "testdata." + CIRC_STR + "s" }

const std::string	CMD_TYPE_PATH_STR { XML_ATTR_STR + ".type" }

static constexpr double	DEFAULT_ACC { 0.01 }

static constexpr double	DEFAULT_ACC_GRIPPER { 0.8 }

static constexpr double	DEFAULT_BLEND_RADIUS { 0.01 }

static constexpr double	DEFAULT_VEL { 0.01 }

static constexpr double	DEFAULT_VEL_GRIPPER { 0.5 }

const std::string	EMPTY_STR {}

const std::string	END_POS_STR { "endPos" }

const std::string	GRIPPER_STR { "gripper" }

const std::string	GRIPPERS_PATH_STR { "testdata." + GRIPPER_STR + "s" }

const std::string	GROUP_NAME_PATH_STR { XML_ATTR_STR + ".group_name" }

const std::string	INTERMEDIATE_POS_STR { "intermediatePos" }

const std::string	JOINT_STR { "joints" }

const std::string	LIN_STR { "lin" }

const std::string	LINK_NAME_PATH_STR { XML_ATTR_STR + ".link_name" }

const std::string	LINS_PATH_STR { "testdata." + LIN_STR + "s" }

const std::string	NAME_PATH_STR { XML_ATTR_STR + ".name" }

const std::string	PLANNING_GROUP_STR { "planningGroup" }

const std::string	POSE_STR { "pos" }

const std::string	POSES_PATH_STR { "testdata.poses" }

const std::string	PTP_STR { "ptp" }

const std::string	PTPS_PATH_STR { "testdata." + PTP_STR + "s" }

const std::string	SEED_STR { "seed" }

const std::string	SEQUENCE_PATH_STR { "testdata.sequences" }

const std::string	START_POS_STR { "startPos" }

const std::string	TARGET_LINK_STR { "targetLink" }

const std::string	VEL_STR { "vel" }

const std::string	XML_ATTR_STR { "<xmlattr>" }

const std::string	XYZ_EULER_STR { "xyzEuler" }

const std::string	XYZ_QUAT_STR { "xyzQuat" }

Typedef Documentation

◆ CartesianCenter

using pilz_industrial_motion_planner_testutils::CartesianCenter = typedef Center<CartesianConfiguration, CartesianPathConstraintsBuilder>

Definition at line 77 of file circ_auxiliary_types.h.

◆ CartesianInterim

using pilz_industrial_motion_planner_testutils::CartesianInterim = typedef Interim<CartesianConfiguration, CartesianPathConstraintsBuilder>

Definition at line 78 of file circ_auxiliary_types.h.

◆ CircCenterCart

typedef Circ<CartesianConfiguration, CartesianCenter, CartesianConfiguration> pilz_industrial_motion_planner_testutils::CircCenterCart

Definition at line 90 of file command_types_typedef.h.

◆ CircInterimCart

typedef Circ<CartesianConfiguration, CartesianInterim, CartesianConfiguration> pilz_industrial_motion_planner_testutils::CircInterimCart

Definition at line 91 of file command_types_typedef.h.

◆ CircJointCenterCart

typedef Circ<JointConfiguration, CartesianCenter, JointConfiguration> pilz_industrial_motion_planner_testutils::CircJointCenterCart

Definition at line 93 of file command_types_typedef.h.

◆ CircJointInterimCart

typedef Circ<JointConfiguration, CartesianInterim, JointConfiguration> pilz_industrial_motion_planner_testutils::CircJointInterimCart

Definition at line 94 of file command_types_typedef.h.

◆ CmdVariant

typedef boost::variant<PtpJoint, PtpJointCart, PtpCart, LinJoint, LinCart, CircCenterCart, CircInterimCart, CircJointCenterCart, CircJointInterimCart, Gripper> pilz_industrial_motion_planner_testutils::CmdVariant

Definition at line 98 of file command_types_typedef.h.

◆ CreateJointNameFunc

using pilz_industrial_motion_planner_testutils::CreateJointNameFunc = typedef std::function<std::string(const size_t&)>

Definition at line 92 of file jointconfiguration.h.

◆ LinCart

typedef Lin<CartesianConfiguration, CartesianConfiguration> pilz_industrial_motion_planner_testutils::LinCart

Definition at line 88 of file command_types_typedef.h.

◆ LinJoint

typedef Lin<JointConfiguration, JointConfiguration> pilz_industrial_motion_planner_testutils::LinJoint

Definition at line 86 of file command_types_typedef.h.

◆ LinJointCart

typedef Lin<JointConfiguration, CartesianConfiguration> pilz_industrial_motion_planner_testutils::LinJointCart

Definition at line 87 of file command_types_typedef.h.

◆ MotionCmdUPtr

using pilz_industrial_motion_planner_testutils::MotionCmdUPtr = typedef std::unique_ptr<MotionCmd>

Definition at line 122 of file motioncmd.h.

◆ PtpCart

typedef Ptp<CartesianConfiguration, CartesianConfiguration> pilz_industrial_motion_planner_testutils::PtpCart

Definition at line 84 of file command_types_typedef.h.

◆ PtpJoint

typedef Ptp<JointConfiguration, JointConfiguration> pilz_industrial_motion_planner_testutils::PtpJoint

Definition at line 82 of file command_types_typedef.h.

◆ PtpJointCart

typedef Ptp<JointConfiguration, CartesianConfiguration> pilz_industrial_motion_planner_testutils::PtpJointCart

Definition at line 83 of file command_types_typedef.h.

◆ TestdataLoaderUPtr

using pilz_industrial_motion_planner_testutils::TestdataLoaderUPtr = typedef std::unique_ptr<TestdataLoader>

Definition at line 146 of file testdata_loader.h.

◆ XmlTestDataLoaderUPtr

using pilz_industrial_motion_planner_testutils::XmlTestDataLoaderUPtr = typedef std::unique_ptr<TestdataLoader>

Definition at line 252 of file xml_testdata_loader.h.

Function Documentation

◆ isAtExpectedPosition()

::testing::AssertionResult pilz_industrial_motion_planner_testutils::isAtExpectedPosition	(	const robot_state::RobotState &	expected,
		const robot_state::RobotState &	actual,
		const double	epsilon,
		const std::string &	group_name = `""`
	)

Definition at line 75 of file checks.h.

◆ operator<<() [1/2]

std::ostream & pilz_industrial_motion_planner_testutils::operator<<	(	std::ostream &	os,
		const CartesianConfiguration &	obj
	)

Definition at line 157 of file cartesianconfiguration.cpp.

◆ operator<<() [2/2]

std::ostream & pilz_industrial_motion_planner_testutils::operator<<	(	std::ostream &	os,
		const JointConfiguration &	obj
	)

Definition at line 176 of file jointconfiguration.cpp.

Variable Documentation

◆ ACC_STR

const std::string pilz_industrial_motion_planner_testutils::ACC_STR { "acc" }

Definition at line 96 of file xml_constants.h.

◆ BLEND_RADIUS_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::BLEND_RADIUS_PATH_STR { XML_ATTR_STR + ".blend_radius" }

Definition at line 107 of file xml_constants.h.

◆ BLEND_STR

const std::string pilz_industrial_motion_planner_testutils::BLEND_STR { "blend" }

Definition at line 86 of file xml_constants.h.

◆ CENTER_POS_STR

const std::string pilz_industrial_motion_planner_testutils::CENTER_POS_STR { "centerPos" }

Definition at line 94 of file xml_constants.h.

◆ CIRC_STR

const std::string pilz_industrial_motion_planner_testutils::CIRC_STR { "circ" }

Definition at line 85 of file xml_constants.h.

◆ CIRCS_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::CIRCS_PATH_STR { "testdata." + CIRC_STR + "s" }

Definition at line 101 of file xml_constants.h.

◆ CMD_TYPE_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::CMD_TYPE_PATH_STR { XML_ATTR_STR + ".type" }

Definition at line 106 of file xml_constants.h.

◆ DEFAULT_ACC

constexpr double pilz_industrial_motion_planner_testutils::DEFAULT_ACC { 0.01 }

staticconstexpr

Definition at line 76 of file default_values.h.

◆ DEFAULT_ACC_GRIPPER

constexpr double pilz_industrial_motion_planner_testutils::DEFAULT_ACC_GRIPPER { 0.8 }

staticconstexpr

Definition at line 80 of file default_values.h.

◆ DEFAULT_BLEND_RADIUS

constexpr double pilz_industrial_motion_planner_testutils::DEFAULT_BLEND_RADIUS { 0.01 }

staticconstexpr

Definition at line 77 of file default_values.h.

◆ DEFAULT_VEL

constexpr double pilz_industrial_motion_planner_testutils::DEFAULT_VEL { 0.01 }

staticconstexpr

Definition at line 75 of file default_values.h.

◆ DEFAULT_VEL_GRIPPER

constexpr double pilz_industrial_motion_planner_testutils::DEFAULT_VEL_GRIPPER { 0.5 }

staticconstexpr

Definition at line 79 of file default_values.h.

◆ EMPTY_STR

const std::string pilz_industrial_motion_planner_testutils::EMPTY_STR {}

Definition at line 74 of file xml_constants.h.

◆ END_POS_STR

const std::string pilz_industrial_motion_planner_testutils::END_POS_STR { "endPos" }

Definition at line 92 of file xml_constants.h.

◆ GRIPPER_STR

const std::string pilz_industrial_motion_planner_testutils::GRIPPER_STR { "gripper" }

Definition at line 87 of file xml_constants.h.

◆ GRIPPERS_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::GRIPPERS_PATH_STR { "testdata." + GRIPPER_STR + "s" }

Definition at line 103 of file xml_constants.h.

◆ GROUP_NAME_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::GROUP_NAME_PATH_STR { XML_ATTR_STR + ".group_name" }

Definition at line 109 of file xml_constants.h.

◆ INTERMEDIATE_POS_STR

const std::string pilz_industrial_motion_planner_testutils::INTERMEDIATE_POS_STR { "intermediatePos" }

Definition at line 93 of file xml_constants.h.

◆ JOINT_STR

const std::string pilz_industrial_motion_planner_testutils::JOINT_STR { "joints" }

Definition at line 77 of file xml_constants.h.

◆ LIN_STR

const std::string pilz_industrial_motion_planner_testutils::LIN_STR { "lin" }

Definition at line 84 of file xml_constants.h.

◆ LINK_NAME_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::LINK_NAME_PATH_STR { XML_ATTR_STR + ".link_name" }

Definition at line 108 of file xml_constants.h.

◆ LINS_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::LINS_PATH_STR { "testdata." + LIN_STR + "s" }

Definition at line 100 of file xml_constants.h.

◆ NAME_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::NAME_PATH_STR { XML_ATTR_STR + ".name" }

Definition at line 105 of file xml_constants.h.

◆ PLANNING_GROUP_STR

const std::string pilz_industrial_motion_planner_testutils::PLANNING_GROUP_STR { "planningGroup" }

Definition at line 89 of file xml_constants.h.

◆ POSE_STR

const std::string pilz_industrial_motion_planner_testutils::POSE_STR { "pos" }

Definition at line 78 of file xml_constants.h.

◆ POSES_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::POSES_PATH_STR { "testdata.poses" }

Definition at line 98 of file xml_constants.h.

◆ PTP_STR

const std::string pilz_industrial_motion_planner_testutils::PTP_STR { "ptp" }

Definition at line 83 of file xml_constants.h.

◆ PTPS_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::PTPS_PATH_STR { "testdata." + PTP_STR + "s" }

Definition at line 99 of file xml_constants.h.

◆ SEED_STR

const std::string pilz_industrial_motion_planner_testutils::SEED_STR { "seed" }

Definition at line 81 of file xml_constants.h.

◆ SEQUENCE_PATH_STR

const std::string pilz_industrial_motion_planner_testutils::SEQUENCE_PATH_STR { "testdata.sequences" }

Definition at line 102 of file xml_constants.h.

◆ START_POS_STR

const std::string pilz_industrial_motion_planner_testutils::START_POS_STR { "startPos" }

Definition at line 91 of file xml_constants.h.

◆ TARGET_LINK_STR

const std::string pilz_industrial_motion_planner_testutils::TARGET_LINK_STR { "targetLink" }

Definition at line 90 of file xml_constants.h.

◆ VEL_STR

const std::string pilz_industrial_motion_planner_testutils::VEL_STR { "vel" }

Definition at line 95 of file xml_constants.h.

◆ XML_ATTR_STR

const std::string pilz_industrial_motion_planner_testutils::XML_ATTR_STR { "<xmlattr>" }

Definition at line 76 of file xml_constants.h.

◆ XYZ_EULER_STR

const std::string pilz_industrial_motion_planner_testutils::XYZ_EULER_STR { "xyzEuler" }

Definition at line 80 of file xml_constants.h.

◆ XYZ_QUAT_STR

const std::string pilz_industrial_motion_planner_testutils::XYZ_QUAT_STR { "xyzQuat" }

Definition at line 79 of file xml_constants.h.

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ CartesianCenter

◆ CartesianInterim

◆ CircCenterCart

◆ CircInterimCart

◆ CircJointCenterCart

◆ CircJointInterimCart

◆ CmdVariant

◆ CreateJointNameFunc

◆ LinCart

◆ LinJoint

◆ LinJointCart

◆ MotionCmdUPtr

◆ PtpCart

◆ PtpJoint

◆ PtpJointCart

◆ TestdataLoaderUPtr

◆ XmlTestDataLoaderUPtr

Function Documentation

◆ isAtExpectedPosition()

◆ operator<<() [1/2]

◆ operator<<() [2/2]

Variable Documentation

◆ ACC_STR

◆ BLEND_RADIUS_PATH_STR

◆ BLEND_STR

◆ CENTER_POS_STR

◆ CIRC_STR

◆ CIRCS_PATH_STR

◆ CMD_TYPE_PATH_STR

◆ DEFAULT_ACC

◆ DEFAULT_ACC_GRIPPER

◆ DEFAULT_BLEND_RADIUS

◆ DEFAULT_VEL

◆ DEFAULT_VEL_GRIPPER

◆ EMPTY_STR

◆ END_POS_STR

◆ GRIPPER_STR

◆ GRIPPERS_PATH_STR

◆ GROUP_NAME_PATH_STR

◆ INTERMEDIATE_POS_STR

◆ JOINT_STR

◆ LIN_STR

◆ LINK_NAME_PATH_STR

◆ LINS_PATH_STR

◆ NAME_PATH_STR

◆ PLANNING_GROUP_STR

◆ POSE_STR

◆ POSES_PATH_STR

◆ PTP_STR

◆ PTPS_PATH_STR

◆ SEED_STR

◆ SEQUENCE_PATH_STR

◆ START_POS_STR

◆ TARGET_LINK_STR

◆ VEL_STR

◆ XML_ATTR_STR

◆ XYZ_EULER_STR

◆ XYZ_QUAT_STR