state_solver_test_suite.h File Reference

#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <algorithm>
#include <vector>
#include <tesseract_urdf/urdf_parser.h>
#include <tesseract_geometry/impl/box.h>
#include <tesseract_common/resource_locator.h>
#include <tesseract_common/utils.h>
#include <tesseract_scene_graph/graph.h>
#include <tesseract_scene_graph/link.h>
#include <tesseract_scene_graph/joint.h>
#include <tesseract_state_solver/kdl/kdl_state_solver.h>

Include dependency graph for state_solver_test_suite.h:

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Namespaces
	tesseract_scene_graph
	tesseract_scene_graph::test_suite

Functions
SceneGraph::UPtr	tesseract_scene_graph::test_suite::getSceneGraph (const tesseract_common::ResourceLocator &locator)
SceneGraph::UPtr	tesseract_scene_graph::test_suite::getSubSceneGraph ()
static void	tesseract_scene_graph::test_suite::numericalJacobian (Eigen::Ref< Eigen::MatrixXd > jacobian, const Eigen::Isometry3d &change_base, const StateSolver &state_solver, const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const std::string &link_name, const Eigen::Ref< const Eigen::Vector3d > &link_point)
	Numerically calculate a jacobian. This is mainly used for testing. More...
template<typename S >
void	tesseract_scene_graph::test_suite::runAddandRemoveLinkTest ()
template<typename S >
void	tesseract_scene_graph::test_suite::runAddSceneGraphTest ()
template<typename S >
void	tesseract_scene_graph::test_suite::runChangeJointLimitsTest ()
template<typename S >
void	tesseract_scene_graph::test_suite::runChangeJointOriginTest ()
void	tesseract_scene_graph::test_suite::runCompareJacobian (StateSolver &state_solver, const std::unordered_map< std::string, double > &joints_values, const std::string &link_name, const Eigen::Vector3d &link_point, const Eigen::Isometry3d &change_base)
void	tesseract_scene_graph::test_suite::runCompareJacobian (StateSolver &state_solver, const std::vector< std::string > &joint_names, const Eigen::VectorXd &jvals, const std::string &link_name, const Eigen::Vector3d &link_point, const Eigen::Isometry3d &change_base)
	Run a kinematic jacobian test. More...
void	tesseract_scene_graph::test_suite::runCompareSceneStates (const SceneState &base_state, const SceneState &compare_state)
void	tesseract_scene_graph::test_suite::runCompareStateSolver (const StateSolver &base_solver, StateSolver &comp_solver)
void	tesseract_scene_graph::test_suite::runCompareStateSolverLimits (const SceneGraph &scene_graph, const StateSolver &comp_solver)
template<typename S >
void	tesseract_scene_graph::test_suite::runJacobianTest ()
template<typename S >
void	tesseract_scene_graph::test_suite::runMoveJointTest ()
template<typename S >
void	tesseract_scene_graph::test_suite::runMoveLinkTest ()
template<typename S >
void	tesseract_scene_graph::test_suite::runReplaceJointTest ()
template<typename S >
void	tesseract_scene_graph::test_suite::runSetFloatingJointStateTest ()