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)

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

void AcceptanceTest_Hiro::move_armbyarm_jointangles ( AbstAcceptanceTest & test_client )

inline

Definition at line 248 of file acceptancetest_hironx.cpp.

void AcceptanceTest_Hiro::move_armbyarm_pose ( AbstAcceptanceTest & test_client )

inline

Definition at line 262 of file acceptancetest_hironx.cpp.

void AcceptanceTest_Hiro::move_head ( AbstAcceptanceTest & test_client )

inline

Definition at line 301 of file acceptancetest_hironx.cpp.

void AcceptanceTest_Hiro::move_torso ( AbstAcceptanceTest & test_client )

inline

Definition at line 317 of file acceptancetest_hironx.cpp.

void AcceptanceTest_Hiro::movearms_together ( AbstAcceptanceTest & test_client )

inline

Definition at line 267 of file acceptancetest_hironx.cpp.

void AcceptanceTest_Hiro::overwrite_arm ( AbstAcceptanceTest & test_client )

inline

Definition at line 341 of file acceptancetest_hironx.cpp.

void AcceptanceTest_Hiro::overwrite_torso ( AbstAcceptanceTest & test_client )

inline

Definition at line 327 of file acceptancetest_hironx.cpp.

std::string AcceptanceTest_Hiro::retName ( )

inline

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.

void AcceptanceTest_Hiro::set_pose_relative ( AbstAcceptanceTest & test_client )

inline

Definition at line 282 of file acceptancetest_hironx.cpp.

void AcceptanceTest_Hiro::show_workspace ( AbstAcceptanceTest & test_client )

inline

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

AcceptanceTestRos AcceptanceTest_Hiro::acceptance_ros_client

private

Definition at line 386 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::DURATION_EACH_SMALLINCREMENT = 0.1

static

Definition at line 100 of file acceptancetest_hironx.cpp.

const int AcceptanceTest_Hiro::DURATION_TOTAL_SMALLINCREMENT = 30

static

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.

DVEC AcceptanceTest_Hiro::POS_L_X_FAR_Y_FAR

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.

DVEC AcceptanceTest_Hiro::POS_L_X_NEAR_Y_FAR

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.

DVEC AcceptanceTest_Hiro::POS_R_X_FAR_Y_FAR

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.

DVEC AcceptanceTest_Hiro::POS_R_X_NEAR_Y_FAR

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.

DVEC AcceptanceTest_Hiro::POSITIONS_LARM_DEG_DOWN

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.

DVEC AcceptanceTest_Hiro::POSITIONS_LARM_DEG_UP

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.

DVEC AcceptanceTest_Hiro::POSITIONS_LARM_DEG_UP_SYNC

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.

DVEC AcceptanceTest_Hiro::POSITIONS_RARM_DEG_DOWN

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.

DVEC AcceptanceTest_Hiro::POSITIONS_RARM_DEG_UP_SYNC

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.

DMAT AcceptanceTest_Hiro::POSITIONS_TORSO_DEG

Definition at line 114 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::R_Z_SMALLINCREMENT = 0.0001

static

Definition at line 86 of file acceptancetest_hironx.cpp.

ROS_Client AcceptanceTest_Hiro::ros

private

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.

DMAT AcceptanceTest_Hiro::ROTATION_ANGLES_HEAD_1

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.

DMAT AcceptanceTest_Hiro::ROTATION_ANGLES_HEAD_2

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.

DVEC AcceptanceTest_Hiro::RPY_L_X_FAR_Y_FAR

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.

DVEC AcceptanceTest_Hiro::RPY_L_X_NEAR_Y_FAR

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.

DVEC AcceptanceTest_Hiro::RPY_R_X_FAR_Y_FAR

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.

DVEC AcceptanceTest_Hiro::RPY_R_X_NEAR_Y_FAR

Definition at line 120 of file acceptancetest_hironx.cpp.

const std::string AcceptanceTest_Hiro::rtm_robotname

private

Definition at line 382 of file acceptancetest_hironx.cpp.

const std::string AcceptanceTest_Hiro::rtm_url

private

Definition at line 383 of file acceptancetest_hironx.cpp.

const int AcceptanceTest_Hiro::SLEEP_OVERWRITE = 2

static

Definition at line 103 of file acceptancetest_hironx.cpp.

const int AcceptanceTest_Hiro::SLEEP_TIME = 2

static

Definition at line 102 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::TASK_DURATION_DEFAULT = 4.0

static

Definition at line 98 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::TASK_DURATION_HEAD = AcceptanceTest_Hiro::TASK_DURATION_DEFAULT

static

Definition at line 101 of file acceptancetest_hironx.cpp.

const double AcceptanceTest_Hiro::TASK_DURATION_TORSO = AcceptanceTest_Hiro::TASK_DURATION_DEFAULT

static

Definition at line 99 of file acceptancetest_hironx.cpp.

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

acceptancetest_hironx.cpp

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

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