Public Types
typedef std::vector< DVEC >	DMAT
typedef std::vector< double >	DVEC
Public Member Functions
	AcceptanceTest_Hiro (std::string name="Hironx(Robot)0", std::string url="")
void	move_armbyarm_jointangles (AbstAcceptanceTest &test_client)
void	move_armbyarm_pose (AbstAcceptanceTest &test_client)
void	move_head (AbstAcceptanceTest &test_client)
void	move_torso (AbstAcceptanceTest &test_client)
void	movearms_together (AbstAcceptanceTest &test_client)
void	overwrite_arm (AbstAcceptanceTest &test_client)
void	overwrite_torso (AbstAcceptanceTest &test_client)
std::string	retName ()
void	run_test_ros (bool do_wait_input=false)
void	run_tests (AbstAcceptanceTest &test_client, bool do_wait_input=false)
void	set_pose_relative (AbstAcceptanceTest &test_client)
void	show_workspace (AbstAcceptanceTest &test_client)
void	wait_input (std::string msg, bool do_wait_input=false)
Public Attributes
DVEC	POS_L_X_FAR_Y_FAR
DVEC	POS_L_X_NEAR_Y_FAR
DVEC	POS_R_X_FAR_Y_FAR
DVEC	POS_R_X_NEAR_Y_FAR
DVEC	POSITIONS_LARM_DEG_DOWN
DVEC	POSITIONS_LARM_DEG_UP
DVEC	POSITIONS_LARM_DEG_UP_SYNC
DVEC	POSITIONS_RARM_DEG_DOWN
DVEC	POSITIONS_RARM_DEG_UP_SYNC
DMAT	POSITIONS_TORSO_DEG
DMAT	ROTATION_ANGLES_HEAD_1
DMAT	ROTATION_ANGLES_HEAD_2
DVEC	RPY_L_X_FAR_Y_FAR
DVEC	RPY_L_X_NEAR_Y_FAR
DVEC	RPY_R_X_FAR_Y_FAR
DVEC	RPY_R_X_NEAR_Y_FAR
Static Public Attributes
static const double	DURATION_EACH_SMALLINCREMENT = 0.1
static const int	DURATION_TOTAL_SMALLINCREMENT = 30
static const double	pos_l_x_far_y_far [3] = {0.47548142379781055, 0.17430276793604782, 1.0376878025614884}
static const double	pos_l_x_near_y_far [3] = {0.326, 0.474, 1.038}
static const double	pos_r_x_far_y_far [3] = {0.4755337947019357, -0.17242322190721648, 1.0476395479774052}
static const double	pos_r_x_near_y_far [3] = {0.326, -0.472, 1.048}
static const double	positions_larm_deg_down [6] = {6.196, -5.311, -73.086, -15.287, -12.906, -2.957}
static const double	positions_larm_deg_up [6] = {-4.697, -2.012, -117.108, -17.180, 29.146, -3.739}
static const double	positions_larm_deg_up_sync [6] = {-4.695, -2.009, -117.103, -17.178, 29.138, -3.738}
static const double	positions_rarm_deg_down [6] = {-4.949, -3.372, -80.050, 15.067, -7.734, 3.086}
static const double	positions_rarm_deg_up_sync [6] = {4.695, -2.009, -117.103, 17.178, 29.138, 3.738}
static const double	positions_torso_deg [2][1] = {{130.0}, {-130.0}}
static const double	R_Z_SMALLINCREMENT = 0.0001
static const double	rotation_angles_head_1 [2][2] = {{0.1, 0.0}, {50.0, 10.0}}
static const double	rotation_angles_head_2 [2][2] = { {-50, -10}, {0, 0}}
static const double	rpy_l_x_far_y_far [3] = {-3.075954857224205, -1.5690261926181046, 3.0757659493049574}
static const double	rpy_l_x_near_y_far [3] = {-3.075, -1.569, 3.074}
static const double	rpy_r_x_far_y_far [3] = {3.0715850722714944, -1.5690204449882248, -3.071395243174742}
static const double	rpy_r_x_near_y_far [3] = {3.073, -1.569, -3.072}
static const int	SLEEP_OVERWRITE = 2
static const int	SLEEP_TIME = 2
static const double	TASK_DURATION_DEFAULT = 4.0
static const double	TASK_DURATION_HEAD = AcceptanceTest_Hiro::TASK_DURATION_DEFAULT
static const double	TASK_DURATION_TORSO = AcceptanceTest_Hiro::TASK_DURATION_DEFAULT
Private Attributes
AcceptanceTestRos	acceptance_ros_client
ROS_Client	ros
const std::string	rtm_robotname
const std::string	rtm_url

Detailed Description

Definition at line 19 of file acceptancetest_hironx.cpp.

Member Typedef Documentation

typedef std::vector<DVEC> AcceptanceTest_Hiro::DMAT

Definition at line 40 of file acceptancetest_hironx.cpp.

typedef std::vector<double> AcceptanceTest_Hiro::DVEC

Definition at line 39 of file acceptancetest_hironx.cpp.

Constructor & Destructor Documentation

AcceptanceTest_Hiro::AcceptanceTest_Hiro	(	std::string	name = `"Hironx(Robot)0"`,
		std::string	url = `""`
	)		`[inline]`

Definition at line 94 of file acceptancetest_hironx.cpp.

Member Function Documentation

void AcceptanceTest_Hiro::move_armbyarm_jointangles ( AbstAcceptanceTest & test_client ) [inline]

Definition at line 213 of file acceptancetest_hironx.cpp.

void AcceptanceTest_Hiro::move_armbyarm_pose ( AbstAcceptanceTest & test_client ) [inline]

Definition at line 228 of file acceptancetest_hironx.cpp.

void AcceptanceTest_Hiro::move_head ( AbstAcceptanceTest & test_client ) [inline]

Definition at line 269 of file acceptancetest_hironx.cpp.

void AcceptanceTest_Hiro::move_torso ( AbstAcceptanceTest & test_client ) [inline]

Definition at line 290 of file acceptancetest_hironx.cpp.

void AcceptanceTest_Hiro::movearms_together ( AbstAcceptanceTest & test_client ) [inline]

Definition at line 232 of file acceptancetest_hironx.cpp.

void AcceptanceTest_Hiro::overwrite_arm ( AbstAcceptanceTest & test_client ) [inline]

Definition at line 321 of file acceptancetest_hironx.cpp.

void AcceptanceTest_Hiro::overwrite_torso ( AbstAcceptanceTest & test_client ) [inline]

Definition at line 300 of file acceptancetest_hironx.cpp.

std::string AcceptanceTest_Hiro::retName ( ) [inline]

Definition at line 124 of file acceptancetest_hironx.cpp.

void AcceptanceTest_Hiro::run_test_ros ( bool do_wait_input = false ) [inline]

Definition at line 142 of file acceptancetest_hironx.cpp.

void AcceptanceTest_Hiro::run_tests	(	AbstAcceptanceTest &	test_client,
		bool	do_wait_input = `false`
	)		`[inline]`

Definition at line 152 of file acceptancetest_hironx.cpp.

void AcceptanceTest_Hiro::set_pose_relative ( AbstAcceptanceTest & test_client ) [inline]

Definition at line 250 of file acceptancetest_hironx.cpp.

void AcceptanceTest_Hiro::show_workspace ( AbstAcceptanceTest & test_client ) [inline]

Definition at line 347 of file acceptancetest_hironx.cpp.

void AcceptanceTest_Hiro::wait_input	(	std::string	msg,
		bool	do_wait_input = `false`
	)		`[inline]`

Definition at line 128 of file acceptancetest_hironx.cpp.

Member Data Documentation

AcceptanceTestRos AcceptanceTest_Hiro::acceptance_ros_client [private]

Definition at line 370 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::DURATION_EACH_SMALLINCREMENT = 0.1 [static]

Definition at line 65 of file acceptancetest_hironx.cpp.

const int AcceptanceTest_Hiro::DURATION_TOTAL_SMALLINCREMENT = 30 [static]

Definition at line 70 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::pos_l_x_far_y_far = {0.47548142379781055, 0.17430276793604782, 1.0376878025614884} [static]

Definition at line 57 of file acceptancetest_hironx.cpp.

DVEC AcceptanceTest_Hiro::POS_L_X_FAR_Y_FAR

Definition at line 87 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::pos_l_x_near_y_far = {0.326, 0.474, 1.038} [static]

Definition at line 52 of file acceptancetest_hironx.cpp.

DVEC AcceptanceTest_Hiro::POS_L_X_NEAR_Y_FAR

Definition at line 82 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::pos_r_x_far_y_far = {0.4755337947019357, -0.17242322190721648, 1.0476395479774052} [static]

Definition at line 59 of file acceptancetest_hironx.cpp.

DVEC AcceptanceTest_Hiro::POS_R_X_FAR_Y_FAR

Definition at line 89 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::pos_r_x_near_y_far = {0.326, -0.472, 1.048} [static]

Definition at line 54 of file acceptancetest_hironx.cpp.

DVEC AcceptanceTest_Hiro::POS_R_X_NEAR_Y_FAR

Definition at line 84 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::positions_larm_deg_down = {6.196, -5.311, -73.086, -15.287, -12.906, -2.957} [static]

Definition at line 43 of file acceptancetest_hironx.cpp.

DVEC AcceptanceTest_Hiro::POSITIONS_LARM_DEG_DOWN

Definition at line 73 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::positions_larm_deg_up = {-4.697, -2.012, -117.108, -17.180, 29.146, -3.739} [static]

Definition at line 42 of file acceptancetest_hironx.cpp.

DVEC AcceptanceTest_Hiro::POSITIONS_LARM_DEG_UP

Definition at line 72 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::positions_larm_deg_up_sync = {-4.695, -2.009, -117.103, -17.178, 29.138, -3.738} [static]

Definition at line 45 of file acceptancetest_hironx.cpp.

DVEC AcceptanceTest_Hiro::POSITIONS_LARM_DEG_UP_SYNC

Definition at line 75 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::positions_rarm_deg_down = {-4.949, -3.372, -80.050, 15.067, -7.734, 3.086} [static]

Definition at line 44 of file acceptancetest_hironx.cpp.

DVEC AcceptanceTest_Hiro::POSITIONS_RARM_DEG_DOWN

Definition at line 74 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::positions_rarm_deg_up_sync = {4.695, -2.009, -117.103, 17.178, 29.138, 3.738} [static]

Definition at line 46 of file acceptancetest_hironx.cpp.

DVEC AcceptanceTest_Hiro::POSITIONS_RARM_DEG_UP_SYNC

Definition at line 76 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::positions_torso_deg = {{130.0}, {-130.0}} [static]

Definition at line 49 of file acceptancetest_hironx.cpp.

DMAT AcceptanceTest_Hiro::POSITIONS_TORSO_DEG

Definition at line 79 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::R_Z_SMALLINCREMENT = 0.0001 [static]

Definition at line 50 of file acceptancetest_hironx.cpp.

ROS_Client AcceptanceTest_Hiro::ros [private]

Definition at line 369 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::rotation_angles_head_1 = {{0.1, 0.0}, {50.0, 10.0}} [static]

Definition at line 47 of file acceptancetest_hironx.cpp.

DMAT AcceptanceTest_Hiro::ROTATION_ANGLES_HEAD_1

Definition at line 77 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::rotation_angles_head_2 = { {-50, -10}, {0, 0}} [static]

Definition at line 48 of file acceptancetest_hironx.cpp.

DMAT AcceptanceTest_Hiro::ROTATION_ANGLES_HEAD_2

Definition at line 78 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::rpy_l_x_far_y_far = {-3.075954857224205, -1.5690261926181046, 3.0757659493049574} [static]

Definition at line 58 of file acceptancetest_hironx.cpp.

DVEC AcceptanceTest_Hiro::RPY_L_X_FAR_Y_FAR

Definition at line 88 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::rpy_l_x_near_y_far = {-3.075, -1.569, 3.074} [static]

Definition at line 53 of file acceptancetest_hironx.cpp.

DVEC AcceptanceTest_Hiro::RPY_L_X_NEAR_Y_FAR

Definition at line 83 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::rpy_r_x_far_y_far = {3.0715850722714944, -1.5690204449882248, -3.071395243174742} [static]

Definition at line 60 of file acceptancetest_hironx.cpp.

DVEC AcceptanceTest_Hiro::RPY_R_X_FAR_Y_FAR

Definition at line 90 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::rpy_r_x_near_y_far = {3.073, -1.569, -3.072} [static]

Definition at line 55 of file acceptancetest_hironx.cpp.

DVEC AcceptanceTest_Hiro::RPY_R_X_NEAR_Y_FAR

Definition at line 85 of file acceptancetest_hironx.cpp.

const std::string AcceptanceTest_Hiro::rtm_robotname [private]

Definition at line 366 of file acceptancetest_hironx.cpp.

const std::string AcceptanceTest_Hiro::rtm_url [private]

Definition at line 367 of file acceptancetest_hironx.cpp.

const int AcceptanceTest_Hiro::SLEEP_OVERWRITE = 2 [static]

Definition at line 68 of file acceptancetest_hironx.cpp.

const int AcceptanceTest_Hiro::SLEEP_TIME = 2 [static]

Definition at line 67 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::TASK_DURATION_DEFAULT = 4.0 [static]

Definition at line 63 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::TASK_DURATION_HEAD = AcceptanceTest_Hiro::TASK_DURATION_DEFAULT [static]

Definition at line 66 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::TASK_DURATION_TORSO = AcceptanceTest_Hiro::TASK_DURATION_DEFAULT [static]

Definition at line 64 of file acceptancetest_hironx.cpp.

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

acceptancetest_hironx.cpp

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation