Tesseract kinematics factory test. More...

#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <fstream>
#include "kinematics_test_utils.h"
#include <tesseract_kinematics/core/kinematics_plugin_factory.h>
#include <tesseract_state_solver/kdl/kdl_state_solver.h>
#include <tesseract_common/resource_locator.h>
#include <tesseract_common/yaml_utils.h>

Include dependency graph for kinematics_factory_unit.cpp:

Go to the source code of this file.

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

void	runKinematicsFactoryTest (const std::filesystem::path &config_path)

	TEST (TesseractKinematicsFactoryUnit, KDL_OPW_UR_ROP_REP_PluginTest)

	TEST (TesseractKinematicsFactoryUnit, LoadIKFastKinematicsUnit)

	TEST (TesseractKinematicsFactoryUnit, LoadKDLKinematicsUnit)

	TEST (TesseractKinematicsFactoryUnit, LoadKinematicsPluginInfoUnit)

	TEST (TesseractKinematicsFactoryUnit, LoadOPWKinematicsUnit)

	TEST (TesseractKinematicsFactoryUnit, LoadREPKinematicsUnit)

	TEST (TesseractKinematicsFactoryUnit, LoadROPKinematicsUnit)

	TEST (TesseractKinematicsFactoryUnit, LoadURKinematicsUnit)

	TEST (TesseractKinematicsFactoryUnit, PluginFactorAPIUnit)

Detailed Description

Tesseract kinematics factory test.

Author: Levi Armstrong

Date: Feb 4, 2021

Version: TODO

Bug:: No known bugs

Copyright: Copyright (c) 2021, Southwest Research Institute

License: Software License Agreement (Apache License)

: Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

: Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Definition in file kinematics_factory_unit.cpp.

Function Documentation

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 1327 of file kinematics_factory_unit.cpp.

◆ runKinematicsFactoryTest()

void runKinematicsFactoryTest ( const std::filesystem::path & config_path )

Definition at line 41 of file kinematics_factory_unit.cpp.

◆ TEST() [1/9]

TEST	(	TesseractKinematicsFactoryUnit	,
		KDL_OPW_UR_ROP_REP_PluginTest
	)

Definition at line 152 of file kinematics_factory_unit.cpp.

◆ TEST() [2/9]

TEST	(	TesseractKinematicsFactoryUnit	,
		LoadIKFastKinematicsUnit
	)

Todo:: Add test to test IKFast with free joints

Definition at line 323 of file kinematics_factory_unit.cpp.

◆ TEST() [3/9]

TEST	(	TesseractKinematicsFactoryUnit	,
		LoadKDLKinematicsUnit
	)

Definition at line 1177 of file kinematics_factory_unit.cpp.

◆ TEST() [4/9]

TEST	(	TesseractKinematicsFactoryUnit	,
		LoadKinematicsPluginInfoUnit
	)

Definition at line 284 of file kinematics_factory_unit.cpp.

◆ TEST() [5/9]

TEST	(	TesseractKinematicsFactoryUnit	,
		LoadOPWKinematicsUnit
	)

Definition at line 382 of file kinematics_factory_unit.cpp.

◆ TEST() [6/9]

TEST	(	TesseractKinematicsFactoryUnit	,
		LoadREPKinematicsUnit
	)

Definition at line 863 of file kinematics_factory_unit.cpp.

◆ TEST() [7/9]

TEST	(	TesseractKinematicsFactoryUnit	,
		LoadROPKinematicsUnit
	)

Definition at line 1020 of file kinematics_factory_unit.cpp.

◆ TEST() [8/9]

TEST	(	TesseractKinematicsFactoryUnit	,
		LoadURKinematicsUnit
	)

Definition at line 627 of file kinematics_factory_unit.cpp.

◆ TEST() [9/9]

TEST	(	TesseractKinematicsFactoryUnit	,
		PluginFactorAPIUnit
	)

Definition at line 167 of file kinematics_factory_unit.cpp.

Functions