#include <array>
#include <list>
#include <memory>
#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_combinable_hw.h>

Include dependency graph for franka_combinable_hw_controller_switching_test.cpp:

Classes
class	CombinableControllerConflict

class	CombinableNoControllerConflict

Functions
std::string	arm_id2 ("panda2")

std::string	cp_iface_str ("franka_hw::FrankaPoseCartesianInterface")

std::string	cv_iface_str ("franka_hw::FrankaVelocityCartesianInterface")

	INSTANTIATE_TEST_CASE_P (combinableAdmissibleRequests, CombinableNoControllerConflict, ::testing::Values(std::list< hardware_interface::ControllerInfo >{jt_info}, std::list< hardware_interface::ControllerInfo >{ jt_info, cp_arm2_info}))

	INSTANTIATE_TEST_CASE_P (combinableNonAdmissibleRequests, CombinableControllerConflict, ::testing::Values(std::list< hardware_interface::ControllerInfo >{no_id_info}, std::list< hardware_interface::ControllerInfo >{unknown_iface_info}, std::list< hardware_interface::ControllerInfo >{jp_info}, std::list< hardware_interface::ControllerInfo >{jv_info}, std::list< hardware_interface::ControllerInfo >{cv_info}, std::list< hardware_interface::ControllerInfo >{cp_info}, std::list< hardware_interface::ControllerInfo >{jt_jp_info}, std::list< hardware_interface::ControllerInfo >{jt_jv_info}, std::list< hardware_interface::ControllerInfo >{jt_jt_info}, std::list< hardware_interface::ControllerInfo >{jp_jp_info}, std::list< hardware_interface::ControllerInfo >{jp_jv_info}, std::list< hardware_interface::ControllerInfo >{jp_cv_info}, std::list< hardware_interface::ControllerInfo >{jp_cp_info}, std::list< hardware_interface::ControllerInfo >{jv_jv_info}, std::list< hardware_interface::ControllerInfo >{jv_cv_info}, std::list< hardware_interface::ControllerInfo >{jv_cp_info}, std::list< hardware_interface::ControllerInfo >{cv_cv_info}, std::list< hardware_interface::ControllerInfo >{cv_cp_info}, std::list< hardware_interface::ControllerInfo >{cp_cp_info}, std::list< hardware_interface::ControllerInfo >{jp_jp_jp_info}, std::list< hardware_interface::ControllerInfo >{jt_cv_info}, std::list< hardware_interface::ControllerInfo >{jt_cp_info}))

std::string	jp_iface_str ("hardware_interface::PositionJointInterface")

std::string	jt_iface_str ("hardware_interface::EffortJointInterface")

std::string	jv_iface_str ("hardware_interface::VelocityJointInterface")

std::string	name_str ("some_controller")

hardware_interface::ControllerInfo	newInfo (const std::string &name, const std::string &type, const hardware_interface::InterfaceResources &resource1)

hardware_interface::ControllerInfo	newInfo (const std::string &name, const std::string &type, const hardware_interface::InterfaceResources &resource1, const hardware_interface::InterfaceResources &resource2)

hardware_interface::ControllerInfo	newInfo (const std::string &name, const std::string &type, const hardware_interface::InterfaceResources &resource1, const hardware_interface::InterfaceResources &resource2, const hardware_interface::InterfaceResources &resource3)

	TEST (FrankaCombinableHWTests, CanInitROSInterfaces)

	TEST_P (CombinableControllerConflict, ConflictsForIncompatibleControllers)

	TEST_P (CombinableNoControllerConflict, CanPrepareSwitchForCompatibleControllers)

	TEST_P (CombinableNoControllerConflict, DoesNotConflictForCompatibleControllers)

std::string	type_str ("SomeControllerClass")

std::string	unknown_iface_str ("hardware_interface::UnknownInterface")

Variables
std::string	arm_id

std::set< std::string >	cartesian_arm2_set = {arm_id2 + "_robot"}

std::set< std::string >	cartesian_set = {arm_id + "_robot"}

hardware_interface::ControllerInfo	cp_arm2_info = newInfo(name_str, type_str, cp_arm2_res)

hardware_interface::InterfaceResources	cp_arm2_res (cp_iface_str, cartesian_arm2_set)

hardware_interface::ControllerInfo	cp_cp_info = newInfo(name_str, type_str, cp_res, cp_res)

hardware_interface::ControllerInfo	cp_info = newInfo(name_str, type_str, cp_res)

hardware_interface::InterfaceResources	cp_res (cp_iface_str, cartesian_set)

hardware_interface::ControllerInfo	cv_cp_info = newInfo(name_str, type_str, cv_res, cp_res)

hardware_interface::ControllerInfo	cv_cv_info = newInfo(name_str, type_str, cv_res, cv_res)

hardware_interface::ControllerInfo	cv_info = newInfo(name_str, type_str, cv_res)

hardware_interface::InterfaceResources	cv_res (cv_iface_str, cartesian_set)

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

std::set< std::string >	joints_set

hardware_interface::ControllerInfo	jp_cp_info = newInfo(name_str, type_str, jp_res, cp_res)

hardware_interface::ControllerInfo	jp_cv_info = newInfo(name_str, type_str, jp_res, cv_res)

hardware_interface::ControllerInfo	jp_info = newInfo(name_str, type_str, jp_res)

hardware_interface::ControllerInfo	jp_jp_info = newInfo(name_str, type_str, jp_res, jp_res)

hardware_interface::ControllerInfo	jp_jp_jp_info

hardware_interface::ControllerInfo	jp_jv_info = newInfo(name_str, type_str, jp_res, jv_res)

hardware_interface::InterfaceResources	jp_res (jp_iface_str, joints_set)

hardware_interface::ControllerInfo	jt_cp_info = newInfo(name_str, type_str, jt_res, cp_res)

hardware_interface::ControllerInfo	jt_cv_info = newInfo(name_str, type_str, jt_res, cv_res)

hardware_interface::ControllerInfo	jt_info = newInfo(name_str, type_str, jt_res)

hardware_interface::ControllerInfo	jt_jp_info = newInfo(name_str, type_str, jt_res, jp_res)

hardware_interface::ControllerInfo	jt_jt_info = newInfo(name_str, type_str, jt_res, jt_res)

hardware_interface::ControllerInfo	jt_jv_info = newInfo(name_str, type_str, jt_res, jv_res)

hardware_interface::InterfaceResources	jt_res (jt_iface_str, joints_set)

hardware_interface::ControllerInfo	jv_cp_info = newInfo(name_str, type_str, jv_res, cp_res)

hardware_interface::ControllerInfo	jv_cv_info = newInfo(name_str, type_str, jv_res, cv_res)

hardware_interface::ControllerInfo	jv_info = newInfo(name_str, type_str, jv_res)

hardware_interface::ControllerInfo	jv_jv_info = newInfo(name_str, type_str, jv_res, jv_res)

hardware_interface::InterfaceResources	jv_res (jv_iface_str, joints_set)

hardware_interface::ControllerInfo	no_id_info = newInfo(name_str, type_str, no_id_res)

hardware_interface::InterfaceResources	no_id_res (jp_iface_str, no_id_set)

std::set< std::string >	no_id_set = {"joint1"}

hardware_interface::ControllerInfo	unknown_iface_info

hardware_interface::InterfaceResources	unknown_iface_res (unknown_iface_str, joints_set)

Function Documentation

◆ arm_id2()

std::string arm_id2 ( "panda2" )

◆ cp_iface_str()

std::string cp_iface_str ( "franka_hw::FrankaPoseCartesianInterface" )

◆ cv_iface_str()

std::string cv_iface_str ( "franka_hw::FrankaVelocityCartesianInterface" )

◆ INSTANTIATE_TEST_CASE_P() [1/2]

INSTANTIATE_TEST_CASE_P	(	combinableAdmissibleRequests	,
		CombinableNoControllerConflict	,
		::testing::Values(std::list< hardware_interface::ControllerInfo >{jt_info}, std::list< hardware_interface::ControllerInfo >{ jt_info, cp_arm2_info})
	)

◆ INSTANTIATE_TEST_CASE_P() [2/2]

INSTANTIATE_TEST_CASE_P	(	combinableNonAdmissibleRequests	,
		CombinableControllerConflict	,
		::testing::Values(std::list< hardware_interface::ControllerInfo >{no_id_info}, std::list< hardware_interface::ControllerInfo >{unknown_iface_info}, std::list< hardware_interface::ControllerInfo >{jp_info}, std::list< hardware_interface::ControllerInfo >{jv_info}, std::list< hardware_interface::ControllerInfo >{cv_info}, std::list< hardware_interface::ControllerInfo >{cp_info}, std::list< hardware_interface::ControllerInfo >{jt_jp_info}, std::list< hardware_interface::ControllerInfo >{jt_jv_info}, std::list< hardware_interface::ControllerInfo >{jt_jt_info}, std::list< hardware_interface::ControllerInfo >{jp_jp_info}, std::list< hardware_interface::ControllerInfo >{jp_jv_info}, std::list< hardware_interface::ControllerInfo >{jp_cv_info}, std::list< hardware_interface::ControllerInfo >{jp_cp_info}, std::list< hardware_interface::ControllerInfo >{jv_jv_info}, std::list< hardware_interface::ControllerInfo >{jv_cv_info}, std::list< hardware_interface::ControllerInfo >{jv_cp_info}, std::list< hardware_interface::ControllerInfo >{cv_cv_info}, std::list< hardware_interface::ControllerInfo >{cv_cp_info}, std::list< hardware_interface::ControllerInfo >{cp_cp_info}, std::list< hardware_interface::ControllerInfo >{jp_jp_jp_info}, std::list< hardware_interface::ControllerInfo >{jt_cv_info}, std::list< hardware_interface::ControllerInfo >{jt_cp_info})
	)

◆ jp_iface_str()

std::string jp_iface_str ( "hardware_interface::PositionJointInterface" )

◆ jt_iface_str()

std::string jt_iface_str ( "hardware_interface::EffortJointInterface" )

◆ jv_iface_str()

std::string jv_iface_str ( "hardware_interface::VelocityJointInterface" )

◆ name_str()

std::string name_str ( "some_controller" )

◆ newInfo() [1/3]

hardware_interface::ControllerInfo newInfo	(	const std::string &	name,
		const std::string &	type,
		const hardware_interface::InterfaceResources &	resource1
	)

Definition at line 24 of file franka_combinable_hw_controller_switching_test.cpp.

◆ newInfo() [2/3]

hardware_interface::ControllerInfo newInfo	(	const std::string &	name,
		const std::string &	type,
		const hardware_interface::InterfaceResources &	resource1,
		const hardware_interface::InterfaceResources &	resource2
	)

Definition at line 36 of file franka_combinable_hw_controller_switching_test.cpp.

◆ newInfo() [3/3]

hardware_interface::ControllerInfo newInfo	(	const std::string &	name,
		const std::string &	type,
		const hardware_interface::InterfaceResources &	resource1,
		const hardware_interface::InterfaceResources &	resource2,
		const hardware_interface::InterfaceResources &	resource3
	)