Public Types | Public Member Functions | Public Attributes | Static Public Attributes | Private Attributes
AcceptanceTest_Hiro Class Reference

List of all members.

Public Types

typedef std::vector< DVECDMAT
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 54 of file acceptancetest_hironx.cpp.


Member Typedef Documentation

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

Definition at line 76 of file acceptancetest_hironx.cpp.

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

Definition at line 75 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 129 of file acceptancetest_hironx.cpp.


Member Function Documentation

Definition at line 248 of file acceptancetest_hironx.cpp.

Definition at line 262 of file acceptancetest_hironx.cpp.

Definition at line 301 of file acceptancetest_hironx.cpp.

Definition at line 317 of file acceptancetest_hironx.cpp.

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Definition at line 151 of file acceptancetest_hironx.cpp.

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

Definition at line 172 of file acceptancetest_hironx.cpp.

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

Definition at line 183 of file acceptancetest_hironx.cpp.

Definition at line 282 of file acceptancetest_hironx.cpp.

Definition at line 362 of file acceptancetest_hironx.cpp.

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

Definition at line 156 of file acceptancetest_hironx.cpp.


Member Data Documentation

Definition at line 386 of file acceptancetest_hironx.cpp.

Definition at line 100 of file acceptancetest_hironx.cpp.

Definition at line 105 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 93 of file acceptancetest_hironx.cpp.

Definition at line 122 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 88 of file acceptancetest_hironx.cpp.

Definition at line 117 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 95 of file acceptancetest_hironx.cpp.

Definition at line 124 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 90 of file acceptancetest_hironx.cpp.

Definition at line 119 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 79 of file acceptancetest_hironx.cpp.

Definition at line 108 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 78 of file acceptancetest_hironx.cpp.

Definition at line 107 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 81 of file acceptancetest_hironx.cpp.

Definition at line 110 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 80 of file acceptancetest_hironx.cpp.

Definition at line 109 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 82 of file acceptancetest_hironx.cpp.

Definition at line 111 of file acceptancetest_hironx.cpp.

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

Definition at line 85 of file acceptancetest_hironx.cpp.

Definition at line 114 of file acceptancetest_hironx.cpp.

Definition at line 86 of file acceptancetest_hironx.cpp.

Definition at line 385 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 83 of file acceptancetest_hironx.cpp.

Definition at line 112 of file acceptancetest_hironx.cpp.

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

Definition at line 84 of file acceptancetest_hironx.cpp.

Definition at line 113 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 94 of file acceptancetest_hironx.cpp.

Definition at line 123 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 89 of file acceptancetest_hironx.cpp.

Definition at line 118 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 96 of file acceptancetest_hironx.cpp.

Definition at line 125 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 91 of file acceptancetest_hironx.cpp.

Definition at line 120 of file acceptancetest_hironx.cpp.

Definition at line 382 of file acceptancetest_hironx.cpp.

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Definition at line 99 of file acceptancetest_hironx.cpp.


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


hironx_ros_bridge
Author(s): Kei Okada , Isaac I.Y. Saito
autogenerated on Thu Feb 21 2019 03:42:37