OPW/KDL solver factories for the ABB IRB2400 + tool positioner test fixture. More...

#include <tesseract/common/macros.h>
#include <cmath>
#include <memory>
#include <string>
#include <opw_kinematics/opw_parameters.h>
#include <tesseract/kinematics/forward_kinematics.h>
#include <tesseract/common/types.h>
#include <tesseract/kinematics/inverse_kinematics.h>
#include <tesseract/kinematics/kdl/kdl_fwd_kin_chain.h>
#include <tesseract/kinematics/opw/opw_inv_kin.h>
#include <tesseract/scene_graph/fwd.h>

Functions
opw_kinematics::Parameters< double >	tesseract::kinematics::test_suite::getOPWKinematicsParamABB ()
	OPW parameters for the ABB IRB2400 in support/urdf/abb_irb2400.urdf.

InverseKinematics::UPtr	tesseract::kinematics::test_suite::makeOPWInvKinABB (const tesseract::scene_graph::SceneGraph &scene_graph)
	Closed-form OPW solver over the manipulator chain (ABB_BASE_LINK -> ABB_MANIP_TIP_LINK).

ForwardKinematics::UPtr	tesseract::kinematics::test_suite::makeToolFwdKinABB (const tesseract::scene_graph::SceneGraph &scene_graph)
	Forward kinematics over the tool positioner chain (ABB_MANIP_TIP_LINK -> ABB_TOOL_TIP_LINK).

Variables
const tesseract::common::LinkId	tesseract::kinematics::test_suite::ABB_BASE_LINK = "base_link"
	Base of the ABB IRB2400 manipulator chain.

const tesseract::common::LinkId	tesseract::kinematics::test_suite::ABB_MANIP_TIP_LINK = "tool0"
	Tip of the manipulator chain, and base of the tool positioner chain.

const tesseract::common::LinkId	tesseract::kinematics::test_suite::ABB_TOOL_TIP_LINK = "tool_tip"
	Tip of the tool positioner chain - the frame RTP target poses are expressed for.

Detailed Description

OPW/KDL solver factories for the ABB IRB2400 + tool positioner test fixture.

Shared by rtp_kinematics_unit.cpp and the RTP-vs-KDL benchmark so both measure and verify the same robot. If the OPW parameters below drift from the URDF the unit tests fail loudly, but a benchmark carrying its own copy would silently report numbers for a different manipulator - which is why those two share this one copy. The older ABB test files still carry their own.

Deliberately not folded into kinematics_test_utils.h: that header is included by test targets which do not link tesseract::kinematics_opw, and pulling the OPW headers in would break their builds. Include this only from targets linking both kinematics_opw and kinematics_kdl.

Author: Roelof Oomen

Date: May 1, 2026

License: Software License Agreement (Apache License)

: Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

: Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Functions

Variables

Detailed Description