fk_ik_tests.cpp File Reference

#include <opw_kinematics/opw_macros.h>
#include <array>
#include <chrono>
#include <gtest/gtest.h>
#include <random>
#include "opw_kinematics/opw_kinematics.h"
#include "opw_kinematics/opw_parameters_examples.h"
#include "opw_kinematics/opw_utilities.h"

Include dependency graph for fk_ik_tests.cpp:

Go to the source code of this file.

Classes
struct	TestTolerance< T >
struct	TestTolerance< double >
struct	TestTolerance< float >

Functions
template<typename T >
void	comparePoses (const Transform< T > &Ta, const Transform< T > &Tb, double tolerance)
template<typename T >
void	getRandomJointValues (std::array< T, 6 > &q)
OPW_IGNORE_WARNINGS_POP int	main (int argc, char **argv)
template<typename T >
void	runRandomReachablePosesTest (const opw_kinematics::Parameters< T > &params)
template<typename T >
void	runThroughputTests (const opw_kinematics::Parameters< T > &params)
	TEST (abb_2400, random_reachable_poses_double)
	TEST (abb_2400, random_reachable_poses_float)
	TEST (abb_2400, throughput_tests_double)
	TEST (abb_2400, throughput_tests_float)
	TEST (abb_2600, numerical_issue2_double)
	TEST (abb_2600, numerical_issue_double)
	TEST (abb_2600, random_reachable_poses_double)
	TEST (abb_2600, random_reachable_poses_float)
	TEST (abb_2600, throughput_tests_double)
	TEST (abb_2600, throughput_tests_float)
	TEST (abb_4600, numerical_issue_double)
OPW_IGNORE_WARNINGS_PUSH	TEST (fanuc_r2000, random_reachable_poses_double)
	TEST (fanuc_r2000, random_reachable_poses_float)
	TEST (fanuc_r2000, throughput_tests_double)
	TEST (fanuc_r2000, throughput_tests_float)
	TEST (kuka_kr6, random_reachable_poses_double)
	TEST (kuka_kr6, random_reachable_poses_float)
	TEST (kuka_kr6, throughput_tests_double)
	TEST (kuka_kr6, throughput_tests_float)

Function Documentation

comparePoses()

template<typename T >

void comparePoses	(	const Transform< T > &	Ta,
		const Transform< T > &	Tb,
		double	tolerance
	)

Definition at line 39 of file fk_ik_tests.cpp.

getRandomJointValues()

template<typename T >

void getRandomJointValues

(

std::array< T, 6 > &

q

)

Definition at line 49 of file fk_ik_tests.cpp.

main()

OPW_IGNORE_WARNINGS_POP int main	(	int	argc,
		char **	argv
	)

Definition at line 328 of file fk_ik_tests.cpp.

runRandomReachablePosesTest()

template<typename T >

void runRandomReachablePosesTest

(

const opw_kinematics::Parameters< T > &

params

)

Definition at line 65 of file fk_ik_tests.cpp.

runThroughputTests()

template<typename T >

void runThroughputTests

(

const opw_kinematics::Parameters< T > &

params

)

Definition at line 98 of file fk_ik_tests.cpp.

TEST() [1/19]

TEST	(	abb_2400	,
		random_reachable_poses_double
	)

Definition at line 174 of file fk_ik_tests.cpp.

TEST() [2/19]

TEST	(	abb_2400	,
		random_reachable_poses_float
	)

Definition at line 180 of file fk_ik_tests.cpp.

TEST() [3/19]

TEST	(	abb_2400	,
		throughput_tests_double
	)

Definition at line 186 of file fk_ik_tests.cpp.

TEST() [4/19]

TEST	(	abb_2400	,
		throughput_tests_float
	)

Definition at line 168 of file fk_ik_tests.cpp.

TEST() [5/19]

TEST	(	abb_2600	,
		numerical_issue2_double
	)

Definition at line 246 of file fk_ik_tests.cpp.

TEST() [6/19]

TEST	(	abb_2600	,
		numerical_issue_double
	)

Definition at line 216 of file fk_ik_tests.cpp.

TEST() [7/19]

TEST	(	abb_2600	,
		random_reachable_poses_double
	)

Definition at line 198 of file fk_ik_tests.cpp.

TEST() [8/19]

TEST	(	abb_2600	,
		random_reachable_poses_float
	)

Definition at line 204 of file fk_ik_tests.cpp.

TEST() [9/19]

TEST	(	abb_2600	,
		throughput_tests_double
	)

Definition at line 210 of file fk_ik_tests.cpp.

TEST() [10/19]

TEST	(	abb_2600	,
		throughput_tests_float
	)

Definition at line 192 of file fk_ik_tests.cpp.

TEST() [11/19]

TEST	(	abb_4600	,
		numerical_issue_double
	)

Definition at line 276 of file fk_ik_tests.cpp.

TEST() [12/19]

OPW_IGNORE_WARNINGS_PUSH TEST	(	fanuc_r2000	,
		random_reachable_poses_double
	)

Definition at line 303 of file fk_ik_tests.cpp.

TEST() [13/19]

TEST	(	fanuc_r2000	,
		random_reachable_poses_float
	)

Definition at line 309 of file fk_ik_tests.cpp.

TEST() [14/19]

TEST	(	fanuc_r2000	,
		throughput_tests_double
	)

Definition at line 321 of file fk_ik_tests.cpp.

TEST() [15/19]

TEST	(	fanuc_r2000	,
		throughput_tests_float
	)

Definition at line 315 of file fk_ik_tests.cpp.

TEST() [16/19]

TEST	(	kuka_kr6	,
		random_reachable_poses_double
	)

Definition at line 144 of file fk_ik_tests.cpp.

TEST() [17/19]

TEST	(	kuka_kr6	,
		random_reachable_poses_float
	)

Definition at line 150 of file fk_ik_tests.cpp.

TEST() [18/19]

TEST	(	kuka_kr6	,
		throughput_tests_double
	)

Definition at line 162 of file fk_ik_tests.cpp.

TEST() [19/19]

TEST	(	kuka_kr6	,
		throughput_tests_float
	)

Definition at line 156 of file fk_ik_tests.cpp.