franka_hw_controller_switching_test.cpp File Reference

#include <array>
#include <list>
#include <random>
#include <set>
#include <string>
#include <gtest/gtest.h>
#include <hardware_interface/controller_info.h>
#include <hardware_interface/joint_command_interface.h>
#include <joint_limits_interface/joint_limits.h>
#include <joint_limits_interface/joint_limits_urdf.h>
#include <ros/ros.h>
#include <urdf/model.h>
#include <franka_hw/franka_cartesian_command_interface.h>
#include <franka_hw/franka_hw.h>

Include dependency graph for franka_hw_controller_switching_test.cpp:

Go to the source code of this file.

Classes
class	franka_hw::ControllerConflict
class	franka_hw::NoControllerConflict

Namespaces
	franka_hw

Functions
std::string	arm_id ("panda")
string	franka_hw::arm_id2 ("panda2")
string	franka_hw::cp_iface_str ("franka_hw::FrankaPoseCartesianInterface")
string	franka_hw::cv_iface_str ("franka_hw::FrankaVelocityCartesianInterface")
	franka_hw::INSTANTIATE_TEST_CASE_P (nonAdmissibleRequests, ControllerConflict,::testing::Values(std::list< ControllerInfo >{no_id_info}, std::list< ControllerInfo >{unknown_iface_info}, std::list< ControllerInfo >{jt_jt_info}, std::list< ControllerInfo >{jp_jp_info}, std::list< ControllerInfo >{jp_jv_info}, std::list< ControllerInfo >{jp_cv_info}, std::list< ControllerInfo >{jp_cp_info}, std::list< ControllerInfo >{jv_jv_info}, std::list< ControllerInfo >{jv_cv_info}, std::list< ControllerInfo >{jv_cp_info}, std::list< ControllerInfo >{cv_cv_info}, std::list< ControllerInfo >{cv_cp_info}, std::list< ControllerInfo >{cp_cp_info}, std::list< ControllerInfo >{jp_jp_jp_info}))
	franka_hw::INSTANTIATE_TEST_CASE_P (admissibleRequests, NoControllerConflict,::testing::Values(std::list< ControllerInfo >{jp_info}, std::list< ControllerInfo >{jv_info}, std::list< ControllerInfo >{jt_info}, std::list< ControllerInfo >{cv_info}, std::list< ControllerInfo >{cp_info}, std::list< ControllerInfo >{jt_jp_info}, std::list< ControllerInfo >{jt_jv_info}, std::list< ControllerInfo >{jt_cv_info}, std::list< ControllerInfo >{jt_cp_info}, std::list< ControllerInfo >{cp_info, cp_arm2_info}))
string	franka_hw::jp_iface_str ("hardware_interface::PositionJointInterface")
string	franka_hw::jt_iface_str ("hardware_interface::EffortJointInterface")
string	franka_hw::jv_iface_str ("hardware_interface::VelocityJointInterface")
string	franka_hw::name_str ("some_controller")
hardware_interface::ControllerInfo	franka_hw::newInfo (const std::string &name, const std::string &type, const hardware_interface::InterfaceResources &resource1)
hardware_interface::ControllerInfo	franka_hw::newInfo (const std::string &name, const std::string &type, const hardware_interface::InterfaceResources &resource1, const hardware_interface::InterfaceResources &resource2)
hardware_interface::ControllerInfo	franka_hw::newInfo (const std::string &name, const std::string &type, const hardware_interface::InterfaceResources &resource1, const hardware_interface::InterfaceResources &resource2, const hardware_interface::InterfaceResources &resource3)
	franka_hw::TEST_P (ControllerConflict, ConflictsForIncompatibleControllers)
	franka_hw::TEST_P (NoControllerConflict, DoesNotConflictForCompatibleControllers)
	franka_hw::TEST_P (NoControllerConflict, CanPrepareSwitchForCompatibleControllers)
string	franka_hw::type_str ("SomeControllerClass")
string	franka_hw::unknown_iface_str ("hardware_interface::UnknownInterface")

Variables
set< string >	franka_hw::cartesian_arm2_set = {arm_id2 + "_robot"}
set< string >	franka_hw::cartesian_set = {arm_id + "_robot"}
ControllerInfo	franka_hw::cp_arm2_info = newInfo(name_str, type_str, cp_arm2_res)
InterfaceResources	franka_hw::cp_arm2_res (cp_iface_str, cartesian_arm2_set)
ControllerInfo	franka_hw::cp_cp_info = newInfo(name_str, type_str, cp_res, cp_res)
ControllerInfo	franka_hw::cp_info = newInfo(name_str, type_str, cp_res)
InterfaceResources	franka_hw::cp_res (cp_iface_str, cartesian_set)
ControllerInfo	franka_hw::cv_cp_info = newInfo(name_str, type_str, cv_res, cp_res)
ControllerInfo	franka_hw::cv_cv_info = newInfo(name_str, type_str, cv_res, cv_res)
ControllerInfo	franka_hw::cv_info = newInfo(name_str, type_str, cv_res)
InterfaceResources	franka_hw::cv_res (cv_iface_str, cartesian_set)
std::array< std::string, 7 >	joint_names
set< string >	franka_hw::joints_set
ControllerInfo	franka_hw::jp_cp_info = newInfo(name_str, type_str, jp_res, cp_res)
ControllerInfo	franka_hw::jp_cv_info = newInfo(name_str, type_str, jp_res, cv_res)
ControllerInfo	franka_hw::jp_info = newInfo(name_str, type_str, jp_res)
ControllerInfo	franka_hw::jp_jp_info = newInfo(name_str, type_str, jp_res, jp_res)
ControllerInfo	franka_hw::jp_jp_jp_info = newInfo(name_str, type_str, jp_res, jp_res, jp_res)
ControllerInfo	franka_hw::jp_jv_info = newInfo(name_str, type_str, jp_res, jv_res)
InterfaceResources	franka_hw::jp_res (jp_iface_str, joints_set)
ControllerInfo	franka_hw::jt_cp_info = newInfo(name_str, type_str, jt_res, cp_res)
ControllerInfo	franka_hw::jt_cv_info = newInfo(name_str, type_str, jt_res, cv_res)
ControllerInfo	franka_hw::jt_info = newInfo(name_str, type_str, jt_res)
ControllerInfo	franka_hw::jt_jp_info = newInfo(name_str, type_str, jt_res, jp_res)
ControllerInfo	franka_hw::jt_jt_info = newInfo(name_str, type_str, jt_res, jt_res)
ControllerInfo	franka_hw::jt_jv_info = newInfo(name_str, type_str, jt_res, jv_res)
InterfaceResources	franka_hw::jt_res (jt_iface_str, joints_set)
ControllerInfo	franka_hw::jv_cp_info = newInfo(name_str, type_str, jv_res, cp_res)
ControllerInfo	franka_hw::jv_cv_info = newInfo(name_str, type_str, jv_res, cv_res)
ControllerInfo	franka_hw::jv_info = newInfo(name_str, type_str, jv_res)
ControllerInfo	franka_hw::jv_jv_info = newInfo(name_str, type_str, jv_res, jv_res)
InterfaceResources	franka_hw::jv_res (jv_iface_str, joints_set)
ControllerInfo	franka_hw::no_id_info = newInfo(name_str, type_str, no_id_res)
InterfaceResources	franka_hw::no_id_res (jp_iface_str, no_id_set)
set< string >	franka_hw::no_id_set = {"joint1"}
ControllerInfo	franka_hw::unknown_iface_info = newInfo(name_str, type_str, unknown_iface_res)
InterfaceResources	franka_hw::unknown_iface_res (unknown_iface_str, joints_set)

Function Documentation

std::string arm_id

(

"panda"

)

Variable Documentation

std::array<std::string, 7> joint_names

Initial value:

= {
    arm_id + "_joint1", arm_id + "_joint2", arm_id + "_joint3", arm_id + "_joint4",
    arm_id + "_joint5", arm_id + "_joint6", arm_id + "_joint7"}

Definition at line 27 of file franka_hw_controller_switching_test.cpp.