test_basic_kin.cpp File Reference

Test Fixtures. More...

#include <gtest/gtest.h>
#include <ros/ros.h>
#include <constrained_ik/basic_kin.h>
#include <boost/assign/list_of.hpp>
#include <eigen_conversions/eigen_kdl.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/robot_model/joint_model_group.h>
#include <boost/random/uniform_int_distribution.hpp>

Include dependency graph for test_basic_kin.cpp:

Go to the source code of this file.

Classes
class	BaseTest
	Test Fixtures Consolidate variable-definitions and init functions for use by multiple tests. More...
class	PInvTest
	The PInvTest Test Fixture Class. More...
class	RobotTest
	The RobotTest Test Fixture Class. More...
Functions
int	main (int argc, char **argv)
	This executes all tests for the BasicKin Class.
	TEST_F (RobotTest, inputValidation)
	This tests the BasicKin init function.
	TEST_F (RobotTest, linkTransformsInputValidation)
	This performs input validation test for the BasicKin linkTransforms function.
	TEST_F (RobotTest, linkTransformsKnownPoses)
	This tests the BasicKin linkTransforms function against known poses.
	TEST_F (RobotTest, calcFwdKinInputValidation)
	This performs input validation for the BasicKin calcFwdKin function.
	TEST_F (RobotTest, calcFwdKinKnownPoses)
	This tests the BasicKin calcFwdKin function against known poses.
	TEST_F (RobotTest, calcJacobianInputValidation)
	This performs input validation for the BasicKin calcJacobian function.
	TEST_F (RobotTest, calcJacobianKnownPoses)
	This tests the BasicKin calcJacobian function against known poses.
	TEST_F (PInvTest, solvePInvInputValidation)
	This performs input validation for the BasicKin solvePInv function.
	TEST_F (PInvTest, solvePInvRandomInputs)
	This test exercises the BasicKin solvePInv function with random inputs.
Variables
const std::string	GROUP_NAME = "manipulator"
const std::string	ROBOT_DESCRIPTION_PARAM = "robot_description"

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Detailed Description

Test Fixtures.

Consolidate variable-definitions and init functions for use by multiple tests.

Author:

dsolomon

Date:

Sep 23, 2013

Version:

TODO

Bug:

No known bugs

Copyright:

Copyright (c) 2013, 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 test_basic_kin.cpp.

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Variable Documentation

const std::string GROUP_NAME = "manipulator"

Default group name for tests

Definition at line 41 of file test_basic_kin.cpp.

const std::string ROBOT_DESCRIPTION_PARAM = "robot_description"

Default ROS parameter for robot description

Definition at line 42 of file test_basic_kin.cpp.