Classes | Functions
test_orientation_constraints.cpp File Reference
#include <moveit/kinematic_constraints/kinematic_constraint.h>
#include <gtest/gtest.h>
#include <urdf_parser/urdf_parser.h>
#include <tf2_eigen/tf2_eigen.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <moveit/utils/robot_model_test_utils.h>
#include <boost/math/constants/constants.hpp>
Include dependency graph for test_orientation_constraints.cpp:

Go to the source code of this file.

Classes

class  FloatingJointRobot
 
class  SphericalRobot
 

Functions

int main (int argc, char **argv)
 
Eigen::Quaterniond rotation_vector_to_quat (double rx, double ry, double rz)
 
void setRobotEndEffectorOrientation (moveit::core::RobotState &robot_state, const Eigen::Quaterniond &quat)
 
 TEST_F (FloatingJointRobot, OrientationConstraintsParameterization)
 
 TEST_F (FloatingJointRobot, TestDefaultParameterization)
 
 TEST_F (SphericalRobot, Test1)
 
 TEST_F (SphericalRobot, Test2)
 
 TEST_F (SphericalRobot, Test3)
 
 TEST_F (SphericalRobot, Test4)
 
 TEST_F (SphericalRobot, Test5)
 
Eigen::Quaterniond xyz_intrinsix_to_quat (double rx, double ry, double rz)
 

Function Documentation

◆ main()

int main ( int  argc,
char **  argv 
)

Definition at line 477 of file test_orientation_constraints.cpp.

◆ rotation_vector_to_quat()

Eigen::Quaterniond rotation_vector_to_quat ( double  rx,
double  ry,
double  rz 
)
inline

Helper function to create a quaternion from a rotation vector.

Definition at line 135 of file test_orientation_constraints.cpp.

◆ setRobotEndEffectorOrientation()

void setRobotEndEffectorOrientation ( moveit::core::RobotState robot_state,
const Eigen::Quaterniond quat 
)

Helper function to set the orientation of the robot end-effector for the FloatingJointRobot.

Definition at line 143 of file test_orientation_constraints.cpp.

◆ TEST_F() [1/7]

TEST_F ( FloatingJointRobot  ,
OrientationConstraintsParameterization   
)

Definition at line 379 of file test_orientation_constraints.cpp.

◆ TEST_F() [2/7]

TEST_F ( FloatingJointRobot  ,
TestDefaultParameterization   
)

Definition at line 351 of file test_orientation_constraints.cpp.

◆ TEST_F() [3/7]

TEST_F ( SphericalRobot  ,
Test1   
)

Definition at line 151 of file test_orientation_constraints.cpp.

◆ TEST_F() [4/7]

TEST_F ( SphericalRobot  ,
Test2   
)

Definition at line 178 of file test_orientation_constraints.cpp.

◆ TEST_F() [5/7]

TEST_F ( SphericalRobot  ,
Test3   
)

Definition at line 223 of file test_orientation_constraints.cpp.

◆ TEST_F() [6/7]

TEST_F ( SphericalRobot  ,
Test4   
)

Definition at line 271 of file test_orientation_constraints.cpp.

◆ TEST_F() [7/7]

TEST_F ( SphericalRobot  ,
Test5   
)

Definition at line 325 of file test_orientation_constraints.cpp.

◆ xyz_intrinsix_to_quat()

Eigen::Quaterniond xyz_intrinsix_to_quat ( double  rx,
double  ry,
double  rz 
)
inline

Helper function to create a quaternion from Euler angles.

Definition at line 128 of file test_orientation_constraints.cpp.



moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Fri Sep 24 2021 02:23:42