Static Public Member Functions
static bool	compareJointStatePositions (const sensor_msgs::JointStateConstPtr &msg1, const sensor_msgs::JointStateConstPtr &msg2, const double tol=DEFAULT_JOINT_STATES_COMPARISON_TOLERANCE)
	return true if the joint state positions are equal up to a given tolerance, false otherwise. More...

static bool	detectRobotMotion (double timeout_s=DEFAULT_ROBOT_MOTION_TIMEOUT_S)
	return true if a robot motion was detected, false otherwise. More...

static sensor_msgs::JointStateConstPtr	getCurrentJointStates ()
	wait for a single message on the joint_states topic and return it. More...

Detailed Description

Definition at line 38 of file brake_test_utils.h.

Member Function Documentation

bool prbt_hardware_support::BrakeTestUtils::compareJointStatePositions	(	const sensor_msgs::JointStateConstPtr &	msg1,
		const sensor_msgs::JointStateConstPtr &	msg2,
		const double	tol = `DEFAULT_JOINT_STATES_COMPARISON_TOLERANCE`
	)

inlinestatic

return true if the joint state positions are equal up to a given tolerance, false otherwise.

Definition at line 93 of file brake_test_utils.h.

bool prbt_hardware_support::BrakeTestUtils::detectRobotMotion ( double timeout_s = DEFAULT_ROBOT_MOTION_TIMEOUT_S )

static

return true if a robot motion was detected, false otherwise.

This function periodically checks if the robot has moved by comparing joint positions from the joint_states topic until the timeout is reached.

Definition at line 64 of file brake_test_utils.h.

sensor_msgs::JointStateConstPtr prbt_hardware_support::BrakeTestUtils::getCurrentJointStates ( )

inlinestatic

wait for a single message on the joint_states topic and return it.

Exceptions

GetCurrentJointStatesException

Definition at line 83 of file brake_test_utils.h.

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