test_spline_interpolation.cpp File Reference

#include <gtest/gtest.h>
#include <ur_client_library/control/trajectory_point_interface.h>
#include <ur_client_library/example_robot_wrapper.h>
#include <ur_client_library/ur/ur_driver.h>
#include <ur_client_library/types.h>
#include <chrono>
#include <iostream>
#include <memory>
#include <math.h>
#include <fstream>
#include <ostream>
#include <thread>
#include "test_utils.h"

Include dependency graph for test_spline_interpolation.cpp:

Go to the source code of this file.

Classes
class	SplineInterpolationTest

Functions
void	handleTrajectoryState (control::TrajectoryResult state)
int	main (int argc, char *argv[])
bool	nearlyEqual (double a, double b, double eps=1e-15)
int	sign (double val)
	TEST_F (SplineInterpolationTest, cubic_spline_with_end_point_velocity)
	TEST_F (SplineInterpolationTest, physically_unfeasible_trajectory_cubic_spline)
	TEST_F (SplineInterpolationTest, physically_unfeasible_trajectory_quintic_spline)
	TEST_F (SplineInterpolationTest, quintic_spline_with_end_point_velocity_with_speedscaling)
	TEST_F (SplineInterpolationTest, spline_interpolation_cubic)
	TEST_F (SplineInterpolationTest, spline_interpolation_quintic)
	TEST_F (SplineInterpolationTest, switching_control_mode_with_trajectory_produces_result)
	TEST_F (SplineInterpolationTest, switching_control_mode_without_trajectory_produces_no_result)
	TEST_F (SplineInterpolationTest, zero_time_trajectory_cubic_spline)
	TEST_F (SplineInterpolationTest, zero_time_trajectory_quintic_spline)
bool	waitForTrajectoryResult (std::chrono::milliseconds timeout)

Variables
const std::string	CALIBRATION_CHECKSUM = "calib_12788084448423163542"
bool	g_HEADLESS = true
std::unique_ptr< ExampleRobotWrapper >	g_my_robot
std::string	g_ROBOT_IP = "192.168.56.101"
control::TrajectoryResult	g_trajectory_result
std::condition_variable	g_trajectory_result_cv
std::mutex	g_trajectory_result_mutex
bool	g_trajectory_running
const std::string	INPUT_RECIPE = "resources/rtde_input_recipe.txt"
const std::string	OUTPUT_RECIPE = "resources/rtde_output_recipe_spline.txt"
const std::string	SCRIPT_FILE = "../resources/external_control.urscript"
const std::string	SPLINE_SCRIPT_FILE = "spline_external_control.urscript"

Function Documentation

handleTrajectoryState()

void handleTrajectoryState

(

control::TrajectoryResult

state

)

Definition at line 63 of file test_spline_interpolation.cpp.

main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 1155 of file test_spline_interpolation.cpp.

nearlyEqual()

bool nearlyEqual	(	double	a,
		double	b,
		double	eps = 1e-15
	)

Definition at line 77 of file test_spline_interpolation.cpp.

sign()

int sign

(

double

val

)

Definition at line 72 of file test_spline_interpolation.cpp.

TEST_F() [1/10]

TEST_F	(	SplineInterpolationTest	,
		cubic_spline_with_end_point_velocity
	)

Definition at line 354 of file test_spline_interpolation.cpp.

TEST_F() [2/10]

TEST_F	(	SplineInterpolationTest	,
		physically_unfeasible_trajectory_cubic_spline
	)

Definition at line 1012 of file test_spline_interpolation.cpp.

TEST_F() [3/10]

TEST_F	(	SplineInterpolationTest	,
		physically_unfeasible_trajectory_quintic_spline
	)

Definition at line 1060 of file test_spline_interpolation.cpp.

TEST_F() [4/10]

TEST_F	(	SplineInterpolationTest	,
		quintic_spline_with_end_point_velocity_with_speedscaling
	)

Definition at line 467 of file test_spline_interpolation.cpp.

TEST_F() [5/10]

TEST_F	(	SplineInterpolationTest	,
		spline_interpolation_cubic
	)

Definition at line 630 of file test_spline_interpolation.cpp.

TEST_F() [6/10]

TEST_F	(	SplineInterpolationTest	,
		spline_interpolation_quintic
	)

Definition at line 735 of file test_spline_interpolation.cpp.

TEST_F() [7/10]

TEST_F	(	SplineInterpolationTest	,
		switching_control_mode_with_trajectory_produces_result
	)

Definition at line 1121 of file test_spline_interpolation.cpp.

TEST_F() [8/10]

TEST_F	(	SplineInterpolationTest	,
		switching_control_mode_without_trajectory_produces_no_result
	)

Definition at line 1109 of file test_spline_interpolation.cpp.

TEST_F() [9/10]

TEST_F	(	SplineInterpolationTest	,
		zero_time_trajectory_cubic_spline
	)

Definition at line 847 of file test_spline_interpolation.cpp.

TEST_F() [10/10]

TEST_F	(	SplineInterpolationTest	,
		zero_time_trajectory_quintic_spline
	)

Definition at line 931 of file test_spline_interpolation.cpp.

waitForTrajectoryResult()

bool waitForTrajectoryResult

(

std::chrono::milliseconds

timeout

)

Definition at line 83 of file test_spline_interpolation.cpp.

Variable Documentation

CALIBRATION_CHECKSUM

const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542"

Definition at line 53 of file test_spline_interpolation.cpp.

g_HEADLESS

bool g_HEADLESS = true

Definition at line 55 of file test_spline_interpolation.cpp.

g_my_robot

std::unique_ptr<ExampleRobotWrapper> g_my_robot

Definition at line 57 of file test_spline_interpolation.cpp.

g_ROBOT_IP

std::string g_ROBOT_IP = "192.168.56.101"

Definition at line 54 of file test_spline_interpolation.cpp.

g_trajectory_result

control::TrajectoryResult g_trajectory_result

Definition at line 62 of file test_spline_interpolation.cpp.

g_trajectory_result_cv

std::condition_variable g_trajectory_result_cv

Definition at line 60 of file test_spline_interpolation.cpp.

g_trajectory_result_mutex

std::mutex g_trajectory_result_mutex

Definition at line 61 of file test_spline_interpolation.cpp.

g_trajectory_running

bool g_trajectory_running

Definition at line 59 of file test_spline_interpolation.cpp.

INPUT_RECIPE

const std::string INPUT_RECIPE = "resources/rtde_input_recipe.txt"

Definition at line 52 of file test_spline_interpolation.cpp.

OUTPUT_RECIPE

const std::string OUTPUT_RECIPE = "resources/rtde_output_recipe_spline.txt"

Definition at line 51 of file test_spline_interpolation.cpp.

SCRIPT_FILE

const std::string SCRIPT_FILE = "../resources/external_control.urscript"

Definition at line 49 of file test_spline_interpolation.cpp.

SPLINE_SCRIPT_FILE

const std::string SPLINE_SCRIPT_FILE = "spline_external_control.urscript"

Definition at line 50 of file test_spline_interpolation.cpp.