Go to the documentation of this file.
35 #ifndef TESTDATA_LOADER_H
36 #define TESTDATA_LOADER_H
67 void setRobotModel(moveit::core::RobotModelConstPtr robot_model);
69 virtual JointConfiguration
getJoints(
const std::string& pos_name,
const std::string& group_name)
const = 0;
71 virtual CartesianConfiguration
getPose(
const std::string& pos_name,
const std::string& group_name)
const = 0;
98 virtual Sequence
getSequence(
const std::string& cmd_name)
const = 0;
103 virtual Gripper
getGripper(
const std::string& cmd_name)
const = 0;
117 #endif // TESTDATA_LOADER_H
Circ< CartesianConfiguration, CartesianCenter, CartesianConfiguration > CircCenterCart
virtual LinCart getLinCart(const std::string &cmd_name) const =0
virtual ~TestdataLoader()=default
Circ< JointConfiguration, CartesianInterim, JointConfiguration > CircJointInterimCart
virtual CircInterimCart getCircCartInterimCart(const std::string &cmd_name) const =0
Ptp< JointConfiguration, JointConfiguration > PtpJoint
virtual LinJoint getLinJoint(const std::string &cmd_name) const =0
Returns the command with the specified name from the test data.
virtual JointConfiguration getJoints(const std::string &pos_name, const std::string &group_name) const =0
std::unique_ptr< TestdataLoader > TestdataLoaderUPtr
Lin< CartesianConfiguration, CartesianConfiguration > LinCart
virtual PtpCart getPtpCart(const std::string &cmd_name) const =0
virtual PtpJointCart getPtpJointCart(const std::string &cmd_name) const =0
moveit::core::RobotModelConstPtr robot_model_
virtual CircJointCenterCart getCircJointCenterCart(const std::string &cmd_name) const =0
virtual Sequence getSequence(const std::string &cmd_name) const =0
Returns the command with the specified name from the test data.
Lin< JointConfiguration, JointConfiguration > LinJoint
Ptp< JointConfiguration, CartesianConfiguration > PtpJointCart
virtual PtpJoint getPtpJoint(const std::string &cmd_name) const =0
Returns the command with the specified name from the test data.
Circ< JointConfiguration, CartesianCenter, JointConfiguration > CircJointCenterCart
virtual CircJointInterimCart getCircJointInterimCart(const std::string &cmd_name) const =0
virtual CircCenterCart getCircCartCenterCart(const std::string &cmd_name) const =0
Returns the command with the specified name from the test data.
virtual Gripper getGripper(const std::string &cmd_name) const =0
Returns the command with the specified name from the test data.
Circ< CartesianConfiguration, CartesianInterim, CartesianConfiguration > CircInterimCart
Ptp< CartesianConfiguration, CartesianConfiguration > PtpCart
Lin< JointConfiguration, CartesianConfiguration > LinJointCart
void setRobotModel(moveit::core::RobotModelConstPtr robot_model)
virtual CartesianConfiguration getPose(const std::string &pos_name, const std::string &group_name) const =0
virtual LinJointCart getLinJointCart(const std::string &cmd_name) const =0