#include <gtest/gtest.h>#include <fstream>#include <boost/filesystem/path.hpp>#include <urdf_parser/urdf_parser.h>#include <moveit_resources/config.h>#include <moveit/robot_state/robot_state.h>#include <moveit/robot_model/robot_model.h>#include <moveit/robot_trajectory/robot_trajectory.h>#include <moveit/trajectory_processing/iterative_spline_parameterization.h>#include <moveit/trajectory_processing/iterative_time_parameterization.h>
Include dependency graph for test_time_parameterization.cpp:
Go to the source code of this file.
Functions | |
| int | initRepeatedPointTrajectory (robot_trajectory::RobotTrajectory &trajectory) |
| int | initStraightTrajectory (robot_trajectory::RobotTrajectory &trajectory, double vel_i=0.0, double vel_f=0.0, double acc_i=0.0, double acc_f=0.0) |
| moveit::core::RobotModelConstPtr | loadModel () |
| int | main (int argc, char **argv) |
| void | printTrajectory (robot_trajectory::RobotTrajectory &trajectory) |
| TEST (TestTimeParameterization, TestIterativeParabolic) | |
| TEST (TestTimeParameterization, TestIterativeSpline) | |
| TEST (TestTimeParameterization, TestIterativeSplineAddPoints) | |
| TEST (TestTimeParameterization, TestRepeatedPoint) | |
Variables | |
| moveit::core::RobotModelConstPtr | rmodel = loadModel() |
| robot_trajectory::RobotTrajectory | trajectory (rmodel,"right_arm") |
Function Documentation
| int initRepeatedPointTrajectory | ( | robot_trajectory::RobotTrajectory & | trajectory | ) |
Definition at line 81 of file test_time_parameterization.cpp.
| int initStraightTrajectory | ( | robot_trajectory::RobotTrajectory & | trajectory, |
| double | vel_i = 0.0, |
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| double | vel_f = 0.0, |
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| double | acc_i = 0.0, |
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| double | acc_f = 0.0 |
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| ) |
Definition at line 109 of file test_time_parameterization.cpp.
| moveit::core::RobotModelConstPtr loadModel | ( | ) |
Definition at line 57 of file test_time_parameterization.cpp.
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 213 of file test_time_parameterization.cpp.
| void printTrajectory | ( | robot_trajectory::RobotTrajectory & | trajectory | ) |
Definition at line 140 of file test_time_parameterization.cpp.
| TEST | ( | TestTimeParameterization | , |
| TestIterativeParabolic | |||
| ) |
Definition at line 166 of file test_time_parameterization.cpp.
| TEST | ( | TestTimeParameterization | , |
| TestIterativeSpline | |||
| ) |
Definition at line 178 of file test_time_parameterization.cpp.
| TEST | ( | TestTimeParameterization | , |
| TestIterativeSplineAddPoints | |||
| ) |
Definition at line 190 of file test_time_parameterization.cpp.
| TEST | ( | TestTimeParameterization | , |
| TestRepeatedPoint | |||
| ) |
Definition at line 203 of file test_time_parameterization.cpp.
Variable Documentation
| moveit::core::RobotModelConstPtr rmodel = loadModel() |
Definition at line 52 of file test_time_parameterization.cpp.
| robot_trajectory::RobotTrajectory trajectory(rmodel,"right_arm") |