Protected Member Functions | Static Protected Member Functions | Protected Attributes | List of all members
SplineInterpolationTest Class Reference
Inheritance diagram for SplineInterpolationTest:
Inheritance graph
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Protected Member Functions

std::vector< urcl::vector6d_t > createSegment (const double &time, const urcl::vector6d_t &start_position, const urcl::vector6d_t &end_position, const urcl::vector6d_t &start_velocity, const urcl::vector6d_t &end_velocity)
 
std::vector< urcl::vector6d_t > createSegment (const double &time, const urcl::vector6d_t &start_position, const urcl::vector6d_t &end_position, const urcl::vector6d_t &start_velocity, const urcl::vector6d_t &end_velocity, const urcl::vector6d_t &start_acceleration, const urcl::vector6d_t &end_acceleration)
 
void interpolate (const double &time, urcl::vector6d_t &positions, const std::vector< urcl::vector6d_t > &coefficients)
 
void sendTrajectory (const std::vector< urcl::vector6d_t > &s_pos, const std::vector< urcl::vector6d_t > &s_vel, const std::vector< urcl::vector6d_t > &s_acc, const std::vector< double > &s_time)
 
void SetUp ()
 
void TearDown ()
 
void waitForTrajectoryStarted ()
 
void writeTrajectoryToFile (const char *filename, std::vector< double > time_vec, std::vector< urcl::vector6d_t > expected_positions, std::vector< urcl::vector6d_t > actual_positions, std::vector< urcl::vector6d_t > actual_velocities, std::vector< urcl::vector6d_t > actual_acc, std::vector< double > speed_scaling, std::vector< double > spline_time)
 

Static Protected Member Functions

static void SetUpTestSuite ()
 
static void TearDownTestSuite ()
 

Protected Attributes

double deceleration_time_ = 0.4189
 
const double eps_ = 0.02
 
double max_deceleration_ = 15
 
double step_time_
 

Detailed Description

Definition at line 89 of file test_spline_interpolation.cpp.

Member Function Documentation

◆ createSegment() [1/2]

std::vector<urcl::vector6d_t> SplineInterpolationTest::createSegment ( const double &  time,
const urcl::vector6d_t &  start_position,
const urcl::vector6d_t &  end_position,
const urcl::vector6d_t &  start_velocity,
const urcl::vector6d_t &  end_velocity 
)
inlineprotected

Definition at line 233 of file test_spline_interpolation.cpp.

◆ createSegment() [2/2]

std::vector<urcl::vector6d_t> SplineInterpolationTest::createSegment ( const double &  time,
const urcl::vector6d_t &  start_position,
const urcl::vector6d_t &  end_position,
const urcl::vector6d_t &  start_velocity,
const urcl::vector6d_t &  end_velocity,
const urcl::vector6d_t &  start_acceleration,
const urcl::vector6d_t &  end_acceleration 
)
inlineprotected

Definition at line 203 of file test_spline_interpolation.cpp.

◆ interpolate()

void SplineInterpolationTest::interpolate ( const double &  time,
urcl::vector6d_t &  positions,
const std::vector< urcl::vector6d_t > &  coefficients 
)
inlineprotected

Definition at line 190 of file test_spline_interpolation.cpp.

◆ sendTrajectory()

void SplineInterpolationTest::sendTrajectory ( const std::vector< urcl::vector6d_t > &  s_pos,
const std::vector< urcl::vector6d_t > &  s_vel,
const std::vector< urcl::vector6d_t > &  s_acc,
const std::vector< double > &  s_time 
)
inlineprotected

Definition at line 165 of file test_spline_interpolation.cpp.

◆ SetUp()

void SplineInterpolationTest::SetUp ( )
inlineprotected

Definition at line 143 of file test_spline_interpolation.cpp.

◆ SetUpTestSuite()

static void SplineInterpolationTest::SetUpTestSuite ( )
inlinestaticprotected

Definition at line 92 of file test_spline_interpolation.cpp.

◆ TearDown()

void SplineInterpolationTest::TearDown ( )
inlineprotected

Definition at line 137 of file test_spline_interpolation.cpp.

◆ TearDownTestSuite()

static void SplineInterpolationTest::TearDownTestSuite ( )
inlinestaticprotected

Definition at line 125 of file test_spline_interpolation.cpp.

◆ waitForTrajectoryStarted()

void SplineInterpolationTest::waitForTrajectoryStarted ( )
inlineprotected

Definition at line 257 of file test_spline_interpolation.cpp.

◆ writeTrajectoryToFile()

void SplineInterpolationTest::writeTrajectoryToFile ( const char *  filename,
std::vector< double >  time_vec,
std::vector< urcl::vector6d_t >  expected_positions,
std::vector< urcl::vector6d_t >  actual_positions,
std::vector< urcl::vector6d_t >  actual_velocities,
std::vector< urcl::vector6d_t >  actual_acc,
std::vector< double >  speed_scaling,
std::vector< double >  spline_time 
)
inlineprotected

Definition at line 287 of file test_spline_interpolation.cpp.

Member Data Documentation

◆ deceleration_time_

double SplineInterpolationTest::deceleration_time_ = 0.4189
protected

Definition at line 350 of file test_spline_interpolation.cpp.

◆ eps_

const double SplineInterpolationTest::eps_ = 0.02
protected

Definition at line 344 of file test_spline_interpolation.cpp.

◆ max_deceleration_

double SplineInterpolationTest::max_deceleration_ = 15
protected

Definition at line 351 of file test_spline_interpolation.cpp.

◆ step_time_

double SplineInterpolationTest::step_time_
protected

Definition at line 347 of file test_spline_interpolation.cpp.

The documentation for this class was generated from the following file:

ur_client_library
Author(s): Thomas Timm Andersen, Simon Rasmussen, Felix Exner, Lea Steffen, Tristan Schnell
autogenerated on Mon May 26 2025 02:35:58