opw_kinematics_unit.cpp File Reference

Tesseract opw kinematics test. More...

#include <tesseract/common/macros.h>
#include <gtest/gtest.h>
#include <fstream>
#include "kinematics_test_utils.h"
#include <tesseract/kinematics/opw/opw_inv_kin.h>
#include <tesseract/kinematics/kdl/kdl_fwd_kin_chain.h>
#include <opw_kinematics/opw_parameters.h>
#include <tesseract/kinematics/kinematic_group.h>

Functions
opw_kinematics::Parameters< double >	getOPWKinematicsParamABB ()
pose	setIdentity ()
pose	translation ()[0]
	EXPECT_EQ (inv_kin->getSolverName(), OPW_INV_KIN_CHAIN_SOLVER_NAME)
	EXPECT_EQ (inv_kin->numJoints(), 6)
	EXPECT_EQ (inv_kin->getBaseLinkName(), base_link_name)
	EXPECT_EQ (inv_kin->getTipLinkNames().size(), 1)
	EXPECT_EQ (inv_kin->getTipLinkNames()[0], tip_link_name)
	EXPECT_EQ (inv_kin->getJointNames(), joint_names)
	EXPECT_TRUE (inv_kin2 !=nullptr)
	EXPECT_EQ (inv_kin2->getSolverName(), OPW_INV_KIN_CHAIN_SOLVER_NAME)
	EXPECT_EQ (inv_kin2->numJoints(), 6)
	EXPECT_EQ (inv_kin2->getBaseLinkName(), base_link_name)
	EXPECT_EQ (inv_kin2->getTipLinkNames().size(), 1)
	EXPECT_EQ (inv_kin2->getTipLinkNames()[0], tip_link_name)
	EXPECT_EQ (inv_kin2->getJointNames(), joint_names)
KinematicGroup	kin_group (manip_name, joint_names, std::move(inv_kin), *scene_graph, scene_state)
	runInvKinTest (kin_group, pose, base_link_name, tip_link_name, seed)
KinematicGroup	kin_group2 (manip_name, joint_names, std::move(inv_kin2), *scene_graph, scene_state)
pose2	linear ()
	runInvKinTest (kin_group2, pose2, base_link_name, tip_link_name, seed)
int	main (int argc, char **argv)

Variables
Eigen::VectorXd	seed = Eigen::VectorXd::Zero(6)
tesseract::common::GeneralResourceLocator	locator
auto	scene_graph = getSceneGraphABB(locator)
std::string	base_link_name = "base_link"
std::string	tip_link_name = "tool0"
std::vector< std::string >	joint_names { "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" }
opw_kinematics::Parameters< double >	opw_params = getOPWKinematicsParamABB()
auto	inv_kin = std::make_shared<OPWInvKin>(opw_params, base_link_name, tip_link_name, joint_names)
InverseKinematics::Ptr	inv_kin2 = inv_kin->clone()
std::string	manip_name = "manip"
std::vector< std::string >	invalid_joint_names
tesseract::scene_graph::SceneState	scene_state = state_solver.getState()
auto	abb_joint_2 = scene_graph->getJoint("joint_2")
abb_joint_2 limits	lower = -3.49065
abb_joint_2 limits	upper = 1.57079
Eigen::Isometry3d	pose2

Detailed Description

Tesseract opw kinematics test.

Author

Levi Armstrong

Date

Feb 4, 2021

Copyright

Copyright (c) 2021, Southwest Research Institute

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.

Variable Documentation

invalid_joint_names

std::vector<std::string> invalid_joint_names

Initial value:

{
    "joint_a1", "joint_a2", "joint_a3", "joint_a4", "joint_a5", "joint_a6"
  }