TrapezoidalVelocityTrajectory_Test.cpp File Reference

#include <iostream>
#include <gtest/gtest.h>
#include "robodyn_controllers/TrapezoidalVelocityTrajectoryFactory.h"
#include <tf/tf.h>
#include <fstream>

Include dependency graph for TrapezoidalVelocityTrajectory_Test.cpp:

Go to the source code of this file.

Classes
class	TrapVelTrajectoryGeneratorTest
Functions
int	main (int argc, char **argv)
	TEST_F (TrapVelTrajectoryGeneratorTest, TrapezoidalVelocityCartGetSetTest)
	TEST_F (TrapVelTrajectoryGeneratorTest, TrapezoidalVelocityCartTrajTest)
	TEST_F (TrapVelTrajectoryGeneratorTest, TrapezoidalVelocityCartZeroVelTrajTest)
	TEST_F (TrapVelTrajectoryGeneratorTest, TrapezoidalVelocityJointGetSetTest)
	TEST_F (TrapVelTrajectoryGeneratorTest, TrapezoidalVelocityJointTrajTest)
	TEST_F (TrapVelTrajectoryGeneratorTest, TrapezoidalVelocityJointZeroVelTrajTest)
	TEST_F (TrapVelTrajectoryGeneratorTest, TrapezoidalVelocityUtilityDurationTest)
	TEST_F (TrapVelTrajectoryGeneratorTest, TrapezoidalVelocityUtilitySetDurationTest)
Variables
bool	outputFlag = false

---

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 1218 of file TrapezoidalVelocityTrajectory_Test.cpp.

TEST_F	(	TrapVelTrajectoryGeneratorTest	,
		TrapezoidalVelocityCartGetSetTest
	)

Definition at line 40 of file TrapezoidalVelocityTrajectory_Test.cpp.

TEST_F	(	TrapVelTrajectoryGeneratorTest	,
		TrapezoidalVelocityCartTrajTest
	)

Definition at line 66 of file TrapezoidalVelocityTrajectory_Test.cpp.

TEST_F	(	TrapVelTrajectoryGeneratorTest	,
		TrapezoidalVelocityCartZeroVelTrajTest
	)

Definition at line 199 of file TrapezoidalVelocityTrajectory_Test.cpp.

TEST_F	(	TrapVelTrajectoryGeneratorTest	,
		TrapezoidalVelocityJointGetSetTest
	)

Definition at line 229 of file TrapezoidalVelocityTrajectory_Test.cpp.

TEST_F	(	TrapVelTrajectoryGeneratorTest	,
		TrapezoidalVelocityJointTrajTest
	)

Definition at line 251 of file TrapezoidalVelocityTrajectory_Test.cpp.

TEST_F	(	TrapVelTrajectoryGeneratorTest	,
		TrapezoidalVelocityJointZeroVelTrajTest
	)

Definition at line 383 of file TrapezoidalVelocityTrajectory_Test.cpp.

TEST_F	(	TrapVelTrajectoryGeneratorTest	,
		TrapezoidalVelocityUtilityDurationTest
	)

Test pos position zero first/last velocity and acceleration

Test neg position zero first/last velocity and acceleration

Test pos position, pos initial velocity

Test neg position, neg initial velocity

Test pos position, neg initial velocity

Test neg position, pos initial velocity

Test pos position, pos final velocity

Test neg position, neg final velocity

Test pos position, neg final velocity

Test neg position, pos final velocity

Test pos position, pos initial/final velocity ->pure decceleration

Test pos position, pos initial/final velocity ->pure acceleration

Test neg position, neg initial/final velocity ->pure acceleration

Test neg position, neg initial/final velocity ->pure decceleration

************************************************* Test v1 not at max

********* zero init/final velocity Test pos v1 lower, zero init/final velocity

Test neg v1 lower, zero init/final velocity

******** init velocity Test pos v1 lower, pos init velocity

Test pos v1 lower, neg init velocity

Test neg v1 lower, neg init velocity

Test pos v1 lower, pos init velocity

********** final velocity Test pos v1 lower, pos final velocity

Test pos v1 lower, neg final velocity

Test neg v1 lower, neg final velocity

Test pos v1 lower, pos final velocity

*************** start/end velocities Test pos v1 lower, ->accel

Test pos v1 lower, -> deccel

Test neg v1 lower, -> accel

Test pos v1 lower, -> deccel

Test neg unachievable velocity

Test pos unachievable velocity

Test pos v1 lower, no velocity change

Failed from move-it

Failed values from RDEV-570

Failure from testing on robot, vmax is less than vinit (happened during a replan)

Definition at line 423 of file TrapezoidalVelocityTrajectory_Test.cpp.

TEST_F	(	TrapVelTrajectoryGeneratorTest	,
		TrapezoidalVelocityUtilitySetDurationTest
	)

Test pos position zero first/last velocity and acceleration

Test neg position zero first/last velocity and acceleration

Test pos position initial velocity

Test pos position, pos final velocity

*************** start/end velocities Test pos v1 lower, ->accel

reduce final velocity

check initial/final same with velocity

check initial/final same with zero velocity

Definition at line 1031 of file TrapezoidalVelocityTrajectory_Test.cpp.

---

Variable Documentation

bool outputFlag = false

Definition at line 14 of file TrapezoidalVelocityTrajectory_Test.cpp.