move_arm_utils_test.cpp File Reference

#include <move_arm_warehouse/move_arm_utils.h>
#include <gtest/gtest.h>

Include dependency graph for move_arm_utils_test.cpp:

Go to the source code of this file.

Classes
class	PlanningSceneEditorTest
Functions
int	main (int argc, char **argv)
float	randFloat (float minValue, float maxValue)
void	spinThread ()
	TEST (TestSuite, collisionObjectTest)
	Creates 100 random objects, then deletes them all.
	TEST (TestSuite, randomGeneratorTest)
	TEST (TestSuite, filterTrajectoryTest)
	Creates and filters 10 random trajectories.
	TEST (TestSuite, planTrajectoryTest)
	Plans a trajectory from the start state to 100 random positions.
	TEST (TestSuite, createDeleteMotionPlanTest)
	Creates and deletes 100 motion plan requests.
	TEST (TestSuite, createSaveTest)
	Creates and saves a planning scene.
	TEST (TestSuite, createPlanningSceneTest)
	Creates 10 new planning scenes.
	TEST (TestSuite, connectTest)
	Creates the editor and connects to the database.
Variables
static const double	BASE_ROT_SPEED = .15
static const double	BASE_TRANS_SPEED = .3
static const unsigned int	CONTROL_SPEED = 5
PlanningSceneEditorTest *	editor = NULL
static const std::string	EXECUTE_LEFT_TRAJECTORY = "/l_arm_controller/follow_joint_trajectory"
static const std::string	EXECUTE_RIGHT_TRAJECTORY = "/r_arm_controller/follow_joint_trajectory"
static const double	HAND_ROT_SPEED = .15
static const double	HAND_TRANS_SPEED = .05
bool	inited = false
bool	killThread = false
static const std::string	LEFT_ARM_GROUP = "left_arm"
static const std::string	LEFT_ARM_REDUNDANCY = "l_upper_arm_roll_joint"
static const std::string	LEFT_IK_LINK = "l_wrist_roll_link"
static const std::string	LEFT_IK_NAME = "/pr2_left_arm_kinematics/get_constraint_aware_ik"
static const std::string	LEFT_INTERPOLATE_SERVICE_NAME = "/l_interpolated_ik_motion_plan"
static const std::string	NON_COLL_LEFT_IK_NAME = "/pr2_left_arm_kinematics/get_ik"
static const std::string	NON_COLL_RIGHT_IK_NAME = "/pr2_right_arm_kinematics/get_ik"
planning_scene_utils::PlanningSceneParameters	params
static const std::string	PLANNER_SERVICE_NAME = "/ompl_planning/plan_kinematic_path"
static const std::string	PROXIMITY_SPACE_PLANNER_NAME = "/collision_proximity_planner/plan"
static const std::string	PROXIMITY_SPACE_SERVICE_NAME = "/collision_proximity_server_test/get_distance_aware_plan"
static const std::string	PROXIMITY_SPACE_VALIDITY_NAME = "/collision_proximity_server_test/get_state_validity"
static const std::string	RIGHT_ARM_GROUP = "right_arm"
static const std::string	RIGHT_ARM_REDUNDANCY = "r_upper_arm_roll_joint"
static const std::string	RIGHT_IK_LINK = "r_wrist_roll_link"
static const std::string	RIGHT_IK_NAME = "/pr2_right_arm_kinematics/get_constraint_aware_ik"
static const std::string	RIGHT_INTERPOLATE_SERVICE_NAME = "/r_interpolated_ik_motion_plan"
static const std::string	SET_PLANNING_SCENE_DIFF_NAME = "environment_server/set_planning_scene_diff"
static const std::string	TRAJECTORY_FILTER_SERVICE_NAME = "/trajectory_filter/filter_trajectory_with_constraints"
static const std::string	VIS_TOPIC_NAME = "planning_scene_visualizer_markers"

---

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 310 of file move_arm_utils_test.cpp.

float randFloat	(	float	minValue,
		float	maxValue
	)

Definition at line 223 of file move_arm_utils_test.cpp.

void spinThread

(

)

Definition at line 295 of file move_arm_utils_test.cpp.

TEST	(	TestSuite	,
		collisionObjectTest
	)

Creates 100 random objects, then deletes them all.

Definition at line 241 of file move_arm_utils_test.cpp.

TEST	(	TestSuite	,
		randomGeneratorTest
	)

Definition at line 228 of file move_arm_utils_test.cpp.

TEST	(	TestSuite	,
		filterTrajectoryTest
	)

Creates and filters 10 random trajectories.

Definition at line 182 of file move_arm_utils_test.cpp.

TEST	(	TestSuite	,
		planTrajectoryTest
	)

Plans a trajectory from the start state to 100 random positions.

Definition at line 142 of file move_arm_utils_test.cpp.

TEST	(	TestSuite	,
		createDeleteMotionPlanTest
	)

Creates and deletes 100 motion plan requests.

Definition at line 115 of file move_arm_utils_test.cpp.

TEST	(	TestSuite	,
		createSaveTest
	)

Creates and saves a planning scene.

Definition at line 104 of file move_arm_utils_test.cpp.

TEST	(	TestSuite	,
		createPlanningSceneTest
	)

Creates 10 new planning scenes.

Definition at line 90 of file move_arm_utils_test.cpp.

TEST	(	TestSuite	,
		connectTest
	)

Creates the editor and connects to the database.

Definition at line 82 of file move_arm_utils_test.cpp.

---

Variable Documentation

const double BASE_ROT_SPEED = .15 [static]

Definition at line 9 of file move_arm_utils_test.cpp.

const double BASE_TRANS_SPEED = .3 [static]

Definition at line 8 of file move_arm_utils_test.cpp.

const unsigned int CONTROL_SPEED = 5 [static]

Definition at line 6 of file move_arm_utils_test.cpp.

PlanningSceneEditorTest* editor = NULL

Definition at line 73 of file move_arm_utils_test.cpp.

const std::string EXECUTE_LEFT_TRAJECTORY = "/l_arm_controller/follow_joint_trajectory" [static]

Definition at line 15 of file move_arm_utils_test.cpp.

const std::string EXECUTE_RIGHT_TRAJECTORY = "/r_arm_controller/follow_joint_trajectory" [static]

Definition at line 14 of file move_arm_utils_test.cpp.

const double HAND_ROT_SPEED = .15 [static]

Definition at line 12 of file move_arm_utils_test.cpp.

const double HAND_TRANS_SPEED = .05 [static]

Definition at line 11 of file move_arm_utils_test.cpp.

bool inited = false

Definition at line 77 of file move_arm_utils_test.cpp.

bool killThread = false

Definition at line 76 of file move_arm_utils_test.cpp.

const std::string LEFT_ARM_GROUP = "left_arm" [static]

Definition at line 23 of file move_arm_utils_test.cpp.

const std::string LEFT_ARM_REDUNDANCY = "l_upper_arm_roll_joint" [static]

Definition at line 26 of file move_arm_utils_test.cpp.

const std::string LEFT_IK_LINK = "l_wrist_roll_link" [static]

Definition at line 28 of file move_arm_utils_test.cpp.

const std::string LEFT_IK_NAME = "/pr2_left_arm_kinematics/get_constraint_aware_ik" [static]

Definition at line 16 of file move_arm_utils_test.cpp.

const std::string LEFT_INTERPOLATE_SERVICE_NAME = "/l_interpolated_ik_motion_plan" [static]

Definition at line 32 of file move_arm_utils_test.cpp.

const std::string NON_COLL_LEFT_IK_NAME = "/pr2_left_arm_kinematics/get_ik" [static]

Definition at line 19 of file move_arm_utils_test.cpp.

const std::string NON_COLL_RIGHT_IK_NAME = "/pr2_right_arm_kinematics/get_ik" [static]

Definition at line 20 of file move_arm_utils_test.cpp.

planning_scene_utils::PlanningSceneParameters params

Definition at line 74 of file move_arm_utils_test.cpp.

const std::string PLANNER_SERVICE_NAME = "/ompl_planning/plan_kinematic_path" [static]

Definition at line 31 of file move_arm_utils_test.cpp.

const std::string PROXIMITY_SPACE_PLANNER_NAME = "/collision_proximity_planner/plan" [static]

Definition at line 37 of file move_arm_utils_test.cpp.

const std::string PROXIMITY_SPACE_SERVICE_NAME = "/collision_proximity_server_test/get_distance_aware_plan" [static]

Definition at line 35 of file move_arm_utils_test.cpp.

const std::string PROXIMITY_SPACE_VALIDITY_NAME = "/collision_proximity_server_test/get_state_validity" [static]

Definition at line 36 of file move_arm_utils_test.cpp.

const std::string RIGHT_ARM_GROUP = "right_arm" [static]

Definition at line 22 of file move_arm_utils_test.cpp.

const std::string RIGHT_ARM_REDUNDANCY = "r_upper_arm_roll_joint" [static]

Definition at line 25 of file move_arm_utils_test.cpp.

const std::string RIGHT_IK_LINK = "r_wrist_roll_link" [static]

Definition at line 29 of file move_arm_utils_test.cpp.

const std::string RIGHT_IK_NAME = "/pr2_right_arm_kinematics/get_constraint_aware_ik" [static]

Definition at line 17 of file move_arm_utils_test.cpp.

const std::string RIGHT_INTERPOLATE_SERVICE_NAME = "/r_interpolated_ik_motion_plan" [static]

Definition at line 33 of file move_arm_utils_test.cpp.

const std::string SET_PLANNING_SCENE_DIFF_NAME = "environment_server/set_planning_scene_diff" [static]

Definition at line 38 of file move_arm_utils_test.cpp.

const std::string TRAJECTORY_FILTER_SERVICE_NAME = "/trajectory_filter/filter_trajectory_with_constraints" [static]

Definition at line 34 of file move_arm_utils_test.cpp.

const std::string VIS_TOPIC_NAME = "planning_scene_visualizer_markers" [static]

Definition at line 3 of file move_arm_utils_test.cpp.