integrationtest_prbt_ikfast_manipulator_plugin.cpp File Reference

#include <ros/ros.h>
#include <gtest/gtest.h>
#include <pluginlib/class_loader.h>
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/robot_model/robot_model.h>

Include dependency graph for integrationtest_prbt_ikfast_manipulator_plugin.cpp:

Go to the source code of this file.

Classes
class	PrbtIKFastPluginTest
	Initializes the test of the IKFast plugin. More...

Typedefs
typedef pluginlib::ClassLoader< kinematics::KinematicsBase >	KinematicsLoader
typedef std::vector< double >	Vec1D
typedef std::vector< Vec1D >	Vec2D

Functions
int	main (int argc, char **argv)
std::ostream &	operator<< (std::ostream &os, const geometry_msgs::Pose &pose)
	Overload ostream operator for robot poses. More...
std::ostream &	operator<< (std::ostream &os, const Vec1D &vec)
	Overload ostream operator for double vectors. More...
double	singularPoseJointFormula (double joint1)
	Computes joint2 from joint1 such that singular position with px,py=0 is reached. More...
	TEST_F (PrbtIKFastPluginTest, testSingularities)
	Tests if the IKFast plugin can solve the IK problem for specific singular poses. More...

Variables
static constexpr double	DEFAULT_SEARCH_DISCRETIZATION { 0.01 }
static const std::string	GROUP_PARAM { "group" }
static constexpr double	IKFAST_TOLERANCE { 0.001 }
static const std::string	JOINT_NAMES_PARAM { "joint_names" }
static const std::string	KINEMATICS_BASE_CLASS { "kinematics::KinematicsBase" }
static constexpr double	L1 { 0.3500 }
static constexpr double	L2 { 0.3070 }
static const std::string	MOVEIT_CORE_PACKAGE { "moveit_core" }
static constexpr unsigned int	NUM_JOINTS { 6 }
static const std::string	PLUGIN_NAME_PARAM { "ik_plugin_name" }
static const std::string	ROBOT_DESCRIPTION_PARAM { "robot_description" }
static const std::string	ROOT_LINK_PARAM { "root_link" }
static const std::string	TIP_LINK_PARAM { "tip_link" }

Typedef Documentation

KinematicsLoader

typedef pluginlib::ClassLoader<kinematics::KinematicsBase> KinematicsLoader

Definition at line 11 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

Vec1D

typedef std::vector<double> Vec1D

Definition at line 9 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

Vec2D

typedef std::vector<Vec1D> Vec2D

Definition at line 10 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 233 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

operator<<() [1/2]

std::ostream& operator<<	(	std::ostream &	os,
		const geometry_msgs::Pose &	pose
	)

Overload ostream operator for robot poses.

Definition at line 52 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

operator<<() [2/2]

std::ostream& operator<<	(	std::ostream &	os,
		const Vec1D &	vec
	)

Overload ostream operator for double vectors.

Definition at line 33 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

singularPoseJointFormula()

double singularPoseJointFormula

(

double

joint1

)

Computes joint2 from joint1 such that singular position with px,py=0 is reached.

Definition at line 64 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

TEST_F()

TEST_F	(	PrbtIKFastPluginTest	,
		testSingularities
	)

Tests if the IKFast plugin can solve the IK problem for specific singular poses.

Test Sequence:

1. Define a set of test joint angles. Perform the following steps for all data.
2. Compute pose via forward kinematics.
3. Solve IK problem.
4. Compute deviation of solutions to the test joint angles.

Expected Results:

1. -
2. One pose is obtained.
3. At least one solution is obtained.
4. At least one solution is close to the test joint angles.

Definition at line 145 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

Variable Documentation

DEFAULT_SEARCH_DISCRETIZATION

constexpr double DEFAULT_SEARCH_DISCRETIZATION { 0.01 }

staticconstexpr

Definition at line 23 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

GROUP_PARAM

const std::string GROUP_PARAM { "group" }

static

Definition at line 17 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

IKFAST_TOLERANCE

constexpr double IKFAST_TOLERANCE { 0.001 }

staticconstexpr

Definition at line 25 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

JOINT_NAMES_PARAM

const std::string JOINT_NAMES_PARAM { "joint_names" }

static

Definition at line 20 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

KINEMATICS_BASE_CLASS

const std::string KINEMATICS_BASE_CLASS { "kinematics::KinematicsBase" }

static

Definition at line 14 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

L1

constexpr double L1 { 0.3500 }

staticconstexpr

Definition at line 27 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

L2

constexpr double L2 { 0.3070 }

staticconstexpr

Definition at line 28 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

MOVEIT_CORE_PACKAGE

const std::string MOVEIT_CORE_PACKAGE { "moveit_core" }

static

Definition at line 13 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

NUM_JOINTS

constexpr unsigned int NUM_JOINTS { 6 }

staticconstexpr

Definition at line 24 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

PLUGIN_NAME_PARAM

const std::string PLUGIN_NAME_PARAM { "ik_plugin_name" }

static

Definition at line 16 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

ROBOT_DESCRIPTION_PARAM

const std::string ROBOT_DESCRIPTION_PARAM { "robot_description" }

static

Definition at line 21 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

ROOT_LINK_PARAM

const std::string ROOT_LINK_PARAM { "root_link" }

static

Definition at line 19 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.

TIP_LINK_PARAM

const std::string TIP_LINK_PARAM { "tip_link" }

static

Definition at line 18 of file integrationtest_prbt_ikfast_manipulator_plugin.cpp.