test_trajectory_cache.cpp File Reference

#include <rclcpp/rclcpp.hpp>
#include <moveit/robot_state/conversions.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/trajectory_cache/trajectory_cache.hpp>
#include <atomic>
#include <thread>

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Functions
void	checkAndEmit (bool predicate, const std::string &test_case, const std::string &label)
moveit_msgs::msg::RobotTrajectory	getDummyPandaTraj ()
std::vector< geometry_msgs::msg::Pose >	getDummyWaypoints ()
void	testGettersAndSetters (const std::shared_ptr< TrajectoryCache > &cache)
void	testMotionTrajectories (const std::shared_ptr< MoveGroupInterface > &move_group, const std::shared_ptr< TrajectoryCache > &cache)
void	testCartesianTrajectories (const std::shared_ptr< MoveGroupInterface > &move_group, const std::shared_ptr< TrajectoryCache > &cache)
int	main (int argc, char **argv)

Variables
const std::string	ROBOT_NAME = "panda"
const std::string	ROBOT_FRAME = "world"

Detailed Description

Author

methylDragon

Definition in file test_trajectory_cache.cpp.

Function Documentation

checkAndEmit()

void checkAndEmit	(	bool	predicate,
		const std::string &	test_case,
		const std::string &	label
	)

Definition at line 36 of file test_trajectory_cache.cpp.

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getDummyPandaTraj()

moveit_msgs::msg::RobotTrajectory getDummyPandaTraj

(

)

Definition at line 48 of file test_trajectory_cache.cpp.

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getDummyWaypoints()

std::vector<geometry_msgs::msg::Pose> getDummyWaypoints

(

)

Definition at line 75 of file test_trajectory_cache.cpp.

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main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 1026 of file test_trajectory_cache.cpp.

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testCartesianTrajectories()

void testCartesianTrajectories	(	const std::shared_ptr< MoveGroupInterface > &	move_group,
		const std::shared_ptr< TrajectoryCache > &	cache
	)

First, test if construction even works...

GetCartesianPath::Request

RobotTrajectory

Definition at line 574 of file test_trajectory_cache.cpp.

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testGettersAndSetters()

void testGettersAndSetters

(

const std::shared_ptr< TrajectoryCache > &

cache

)

Definition at line 95 of file test_trajectory_cache.cpp.

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testMotionTrajectories()

void testMotionTrajectories	(	const std::shared_ptr< MoveGroupInterface > &	move_group,
		const std::shared_ptr< TrajectoryCache > &	cache
	)

MotionPlanRequest

RobotTrajectory

Definition at line 113 of file test_trajectory_cache.cpp.

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Variable Documentation

ROBOT_FRAME

const std::string ROBOT_FRAME = "world"

Definition at line 32 of file test_trajectory_cache.cpp.

ROBOT_NAME

const std::string ROBOT_NAME = "panda"

Definition at line 31 of file test_trajectory_cache.cpp.