Go to the source code of this file.
Classes | |
| class | PlanningSceneEditorTest |
Functions | |
| int | main (int argc, char **argv) |
| float | randFloat (float minValue, float maxValue) |
| void | spinThread () |
| TEST (TestSuite, connectTest) | |
| Creates the editor and connects to the database. | |
| TEST (TestSuite, createPlanningSceneTest) | |
| Creates 10 new planning scenes. | |
| TEST (TestSuite, createSaveTest) | |
| Creates and saves a planning scene. | |
| TEST (TestSuite, createDeleteMotionPlanTest) | |
| Creates and deletes 100 motion plan requests. | |
| TEST (TestSuite, planTrajectoryTest) | |
| Plans a trajectory from the start state to 100 random positions. | |
| TEST (TestSuite, filterTrajectoryTest) | |
| Creates and filters 10 random trajectories. | |
| TEST (TestSuite, randomGeneratorTest) | |
| TEST (TestSuite, collisionObjectTest) | |
| Creates 100 random objects, then deletes them all. | |
Variables | |
| static const double | BASE_ROT_SPEED = .15 |
| static const double | BASE_TRANS_SPEED = .3 |
| static const unsigned int | CONTROL_SPEED = 5 |
| PlanningSceneEditorTest * | editor = NULL |
| static const std::string | EXECUTE_LEFT_TRAJECTORY = "/l_arm_controller/follow_joint_trajectory" |
| static const std::string | EXECUTE_RIGHT_TRAJECTORY = "/r_arm_controller/follow_joint_trajectory" |
| static const double | HAND_ROT_SPEED = .15 |
| static const double | HAND_TRANS_SPEED = .05 |
| bool | inited = false |
| bool | killThread = false |
| static const std::string | LEFT_ARM_GROUP = "left_arm" |
| static const std::string | LEFT_ARM_REDUNDANCY = "l_upper_arm_roll_joint" |
| static const std::string | LEFT_IK_LINK = "l_wrist_roll_link" |
| static const std::string | LEFT_IK_NAME = "/pr2_left_arm_kinematics/get_constraint_aware_ik" |
| static const std::string | LEFT_INTERPOLATE_SERVICE_NAME = "/l_interpolated_ik_motion_plan" |
| static const std::string | NON_COLL_LEFT_IK_NAME = "/pr2_left_arm_kinematics/get_ik" |
| static const std::string | NON_COLL_RIGHT_IK_NAME = "/pr2_right_arm_kinematics/get_ik" |
| planning_scene_utils::PlanningSceneParameters | params |
| static const std::string | PLANNER_1_SERVICE_NAME = "/ompl_planning/plan_kinematic_path" |
| static const std::string | PLANNER_2_SERVICE_NAME = "/chomp_planner_longrange/plan_path" |
| static const std::string | PROXIMITY_SPACE_PLANNER_NAME = "/collision_proximity_planner/plan" |
| static const std::string | PROXIMITY_SPACE_SERVICE_NAME = "/collision_proximity_server_test/get_distance_aware_plan" |
| static const std::string | PROXIMITY_SPACE_VALIDITY_NAME = "/collision_proximity_server_test/get_state_validity" |
| static const std::string | RIGHT_ARM_GROUP = "right_arm" |
| static const std::string | RIGHT_ARM_REDUNDANCY = "r_upper_arm_roll_joint" |
| static const std::string | RIGHT_IK_LINK = "r_wrist_roll_link" |
| static const std::string | RIGHT_IK_NAME = "/pr2_right_arm_kinematics/get_constraint_aware_ik" |
| static const std::string | RIGHT_INTERPOLATE_SERVICE_NAME = "/r_interpolated_ik_motion_plan" |
| static const std::string | SET_PLANNING_SCENE_DIFF_NAME = "environment_server/set_planning_scene_diff" |
| static const std::string | TRAJECTORY_FILTER_SERVICE_NAME = "/trajectory_filter/filter_trajectory_with_constraints" |
| static const std::string | VIS_TOPIC_NAME = "planning_scene_visualizer_markers" |
Function Documentation
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 311 of file move_arm_utils_test.cpp.
| float randFloat | ( | float | minValue, |
| float | maxValue | ||
| ) |
Definition at line 224 of file move_arm_utils_test.cpp.
| void spinThread | ( | ) |
Definition at line 296 of file move_arm_utils_test.cpp.
| TEST | ( | TestSuite | , |
| connectTest | |||
| ) |
Creates the editor and connects to the database.
Definition at line 83 of file move_arm_utils_test.cpp.
| TEST | ( | TestSuite | , |
| createPlanningSceneTest | |||
| ) |
Creates 10 new planning scenes.
Definition at line 91 of file move_arm_utils_test.cpp.
| TEST | ( | TestSuite | , |
| createSaveTest | |||
| ) |
Creates and saves a planning scene.
Definition at line 105 of file move_arm_utils_test.cpp.
| TEST | ( | TestSuite | , |
| createDeleteMotionPlanTest | |||
| ) |
Creates and deletes 100 motion plan requests.
Definition at line 116 of file move_arm_utils_test.cpp.
| TEST | ( | TestSuite | , |
| planTrajectoryTest | |||
| ) |
Plans a trajectory from the start state to 100 random positions.
Definition at line 143 of file move_arm_utils_test.cpp.
| TEST | ( | TestSuite | , |
| filterTrajectoryTest | |||
| ) |
Creates and filters 10 random trajectories.
Definition at line 183 of file move_arm_utils_test.cpp.
| TEST | ( | TestSuite | , |
| randomGeneratorTest | |||
| ) |
Definition at line 229 of file move_arm_utils_test.cpp.
| TEST | ( | TestSuite | , |
| collisionObjectTest | |||
| ) |
Creates 100 random objects, then deletes them all.
Definition at line 242 of file move_arm_utils_test.cpp.
Variable Documentation
const double BASE_ROT_SPEED = .15 [static] |
Definition at line 9 of file move_arm_utils_test.cpp.
const double BASE_TRANS_SPEED = .3 [static] |
Definition at line 8 of file move_arm_utils_test.cpp.
const unsigned int CONTROL_SPEED = 5 [static] |
Definition at line 6 of file move_arm_utils_test.cpp.
Definition at line 74 of file move_arm_utils_test.cpp.
const std::string EXECUTE_LEFT_TRAJECTORY = "/l_arm_controller/follow_joint_trajectory" [static] |
Definition at line 15 of file move_arm_utils_test.cpp.
const std::string EXECUTE_RIGHT_TRAJECTORY = "/r_arm_controller/follow_joint_trajectory" [static] |
Definition at line 14 of file move_arm_utils_test.cpp.
const double HAND_ROT_SPEED = .15 [static] |
Definition at line 12 of file move_arm_utils_test.cpp.
const double HAND_TRANS_SPEED = .05 [static] |
Definition at line 11 of file move_arm_utils_test.cpp.
| bool inited = false |
Definition at line 78 of file move_arm_utils_test.cpp.
| bool killThread = false |
Definition at line 77 of file move_arm_utils_test.cpp.
const std::string LEFT_ARM_GROUP = "left_arm" [static] |
Definition at line 23 of file move_arm_utils_test.cpp.
const std::string LEFT_ARM_REDUNDANCY = "l_upper_arm_roll_joint" [static] |
Definition at line 26 of file move_arm_utils_test.cpp.
const std::string LEFT_IK_LINK = "l_wrist_roll_link" [static] |
Definition at line 28 of file move_arm_utils_test.cpp.
const std::string LEFT_IK_NAME = "/pr2_left_arm_kinematics/get_constraint_aware_ik" [static] |
Definition at line 16 of file move_arm_utils_test.cpp.
const std::string LEFT_INTERPOLATE_SERVICE_NAME = "/l_interpolated_ik_motion_plan" [static] |
Definition at line 33 of file move_arm_utils_test.cpp.
const std::string NON_COLL_LEFT_IK_NAME = "/pr2_left_arm_kinematics/get_ik" [static] |
Definition at line 19 of file move_arm_utils_test.cpp.
const std::string NON_COLL_RIGHT_IK_NAME = "/pr2_right_arm_kinematics/get_ik" [static] |
Definition at line 20 of file move_arm_utils_test.cpp.
Definition at line 75 of file move_arm_utils_test.cpp.
const std::string PLANNER_1_SERVICE_NAME = "/ompl_planning/plan_kinematic_path" [static] |
Definition at line 31 of file move_arm_utils_test.cpp.
const std::string PLANNER_2_SERVICE_NAME = "/chomp_planner_longrange/plan_path" [static] |
Definition at line 32 of file move_arm_utils_test.cpp.
const std::string PROXIMITY_SPACE_PLANNER_NAME = "/collision_proximity_planner/plan" [static] |
Definition at line 38 of file move_arm_utils_test.cpp.
const std::string PROXIMITY_SPACE_SERVICE_NAME = "/collision_proximity_server_test/get_distance_aware_plan" [static] |
Definition at line 36 of file move_arm_utils_test.cpp.
const std::string PROXIMITY_SPACE_VALIDITY_NAME = "/collision_proximity_server_test/get_state_validity" [static] |
Definition at line 37 of file move_arm_utils_test.cpp.
const std::string RIGHT_ARM_GROUP = "right_arm" [static] |
Definition at line 22 of file move_arm_utils_test.cpp.
const std::string RIGHT_ARM_REDUNDANCY = "r_upper_arm_roll_joint" [static] |
Definition at line 25 of file move_arm_utils_test.cpp.
const std::string RIGHT_IK_LINK = "r_wrist_roll_link" [static] |
Definition at line 29 of file move_arm_utils_test.cpp.
const std::string RIGHT_IK_NAME = "/pr2_right_arm_kinematics/get_constraint_aware_ik" [static] |
Definition at line 17 of file move_arm_utils_test.cpp.
const std::string RIGHT_INTERPOLATE_SERVICE_NAME = "/r_interpolated_ik_motion_plan" [static] |
Definition at line 34 of file move_arm_utils_test.cpp.
const std::string SET_PLANNING_SCENE_DIFF_NAME = "environment_server/set_planning_scene_diff" [static] |
Definition at line 39 of file move_arm_utils_test.cpp.
const std::string TRAJECTORY_FILTER_SERVICE_NAME = "/trajectory_filter/filter_trajectory_with_constraints" [static] |
Definition at line 35 of file move_arm_utils_test.cpp.
const std::string VIS_TOPIC_NAME = "planning_scene_visualizer_markers" [static] |
Definition at line 3 of file move_arm_utils_test.cpp.