#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <fstream>
#include <tesseract_urdf/urdf_parser.h>
#include "kinematics_test_utils.h"
#include <tesseract_kinematics/kdl/kdl_fwd_kin_chain.h>
#include <tesseract_kinematics/core/rep_inv_kin.h>
#include <tesseract_kinematics/opw/opw_inv_kin.h>
#include <tesseract_kinematics/core/utils.h>
#include <tesseract_kinematics/core/kinematic_group.h>
#include <tesseract_state_solver/kdl/kdl_state_solver.h>
#include <opw_kinematics/opw_parameters.h>

Include dependency graph for rep_kinematics_unit.cpp:

Functions
ForwardKinematics::UPtr	getFullFwdKinematics (const tesseract_scene_graph::SceneGraph &scene_graph)

InverseKinematics::UPtr	getFullInvKinematics (const tesseract_scene_graph::SceneGraph &scene_graph)

opw_kinematics::Parameters< double >	getOPWKinematicsParamABB ()

ForwardKinematics::UPtr	getPositionerFwdKinematics (const tesseract_scene_graph::SceneGraph &scene_graph)

ForwardKinematics::UPtr	getRobotFwdKinematics (const tesseract_scene_graph::SceneGraph &scene_graph)

int	main (int argc, char **argv)

	TEST (TesseractKinematicsUnit, RobotWithExternalPositionerInverseKinematicUnit)

Function Documentation

◆ getFullFwdKinematics()

ForwardKinematics::UPtr getFullFwdKinematics ( const tesseract_scene_graph::SceneGraph & scene_graph )

Definition at line 42 of file rep_kinematics_unit.cpp.

◆ getFullInvKinematics()

InverseKinematics::UPtr getFullInvKinematics ( const tesseract_scene_graph::SceneGraph & scene_graph )

Definition at line 52 of file rep_kinematics_unit.cpp.

◆ getOPWKinematicsParamABB()

opw_kinematics::Parameters<double> getOPWKinematicsParamABB ( )

inline

Definition at line 21 of file rep_kinematics_unit.cpp.

◆ getPositionerFwdKinematics()

ForwardKinematics::UPtr getPositionerFwdKinematics ( const tesseract_scene_graph::SceneGraph & scene_graph )

Definition at line 47 of file rep_kinematics_unit.cpp.

◆ getRobotFwdKinematics()

ForwardKinematics::UPtr getRobotFwdKinematics ( const tesseract_scene_graph::SceneGraph & scene_graph )

Definition at line 37 of file rep_kinematics_unit.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 207 of file rep_kinematics_unit.cpp.

◆ TEST()

TEST	(	TesseractKinematicsUnit	,
		RobotWithExternalPositionerInverseKinematicUnit
	)

Definition at line 103 of file rep_kinematics_unit.cpp.

Functions