tesseract_kinematics::test_suite Namespace Reference

Functions
tesseract_scene_graph::SceneGraph::UPtr	getSceneGraphIIWA ()
tesseract_scene_graph::SceneGraph::UPtr	getSceneGraphABBExternalPositioner ()
tesseract_scene_graph::SceneGraph::UPtr	getSceneGraphABBOnPositioner ()
tesseract_scene_graph::SceneGraph::UPtr	getSceneGraphABB ()
tesseract_scene_graph::SceneGraph::UPtr	getSceneGraphIIWA7 ()
tesseract_scene_graph::SceneGraph::UPtr	getSceneGraphUR (const tesseract_kinematics::URParameters &params, double shoulder_offset, double elbow_offset)
tesseract_common::KinematicLimits	getTargetLimits (const tesseract_scene_graph::SceneGraph &scene_graph, const std::vector< std::string > &joint_names)
void	runJacobianTest (tesseract_kinematics::ForwardKinematics &kin, const Eigen::VectorXd &jvals, const std::string &link_name, const Eigen::Vector3d &link_point, const Eigen::Isometry3d &change_base)
	Run a kinematic jacobian test. More...
void	runJacobianTest (tesseract_kinematics::KinematicGroup &kin_group, const Eigen::VectorXd &jvals, const std::string &link_name, const Eigen::Vector3d &link_point)
	Run a kinematic jacobian test. More...
void	runKinJointLimitsTest (const tesseract_common::KinematicLimits &limits, const tesseract_common::KinematicLimits &target_limits)
	Run kinematic limits test. More...
void	runKinSetJointLimitsTest (tesseract_kinematics::KinematicGroup &kin_group)
	Run kinematics setJointLimits function test. More...
void	runStringVectorEqualTest (const std::vector< std::string > &names, const std::vector< std::string > &target_names)
	Check if two vectors of strings are equal but ignore order. More...
void	runInvKinTest (const tesseract_kinematics::InverseKinematics &inv_kin, const tesseract_kinematics::ForwardKinematics &fwd_kin, const Eigen::Isometry3d &target_pose, const std::string &tip_link_name, const Eigen::VectorXd &seed)
	Run inverse kinematics test comparing the inverse solution to the forward solution. More...
void	runInvKinTest (const tesseract_kinematics::KinematicGroup &kin_group, const Eigen::Isometry3d &target_pose, const std::string &working_frame, const std::string &tip_link_name, const Eigen::VectorXd &seed)
	Run inverse kinematics test comparing the inverse solution to the forward solution. More...
void	runFwdKinIIWATest (tesseract_kinematics::ForwardKinematics &kin)
void	runJacobianIIWATest (tesseract_kinematics::ForwardKinematics &kin, bool is_kin_tree=false)
void	runKinGroupJacobianIIWATest (tesseract_kinematics::KinematicGroup &kin_group)
void	runActiveLinkNamesIIWATest (const tesseract_kinematics::KinematicGroup &kin_group)
void	runActiveLinkNamesABBTest (const tesseract_kinematics::KinematicGroup &kin_group)
void	runActiveLinkNamesURTest (const tesseract_kinematics::KinematicGroup &kin_group)
void	runKinGroupJacobianABBOnPositionerTest (tesseract_kinematics::KinematicGroup &kin_group)
void	runActiveLinkNamesABBOnPositionerTest (const tesseract_kinematics::KinematicGroup &kin_group)
void	runKinGroupJacobianABBExternalPositionerTest (tesseract_kinematics::KinematicGroup &kin_group)
void	runActiveLinkNamesABBExternalPositionerTest (const tesseract_kinematics::KinematicGroup &kin_group)
void	runInvKinIIWATest (const tesseract_kinematics::KinematicsPluginFactory &factory, const std::string &inv_factory_name, const std::string &fwd_factory_name)

Function Documentation

getSceneGraphABB()

tesseract_scene_graph::SceneGraph::UPtr tesseract_kinematics::test_suite::getSceneGraphABB ( )

inline

getSceneGraphABBExternalPositioner()

tesseract_scene_graph::SceneGraph::UPtr tesseract_kinematics::test_suite::getSceneGraphABBExternalPositioner ( )

inline

getSceneGraphABBOnPositioner()

tesseract_scene_graph::SceneGraph::UPtr tesseract_kinematics::test_suite::getSceneGraphABBOnPositioner ( )

inline

getSceneGraphIIWA()

tesseract_scene_graph::SceneGraph::UPtr tesseract_kinematics::test_suite::getSceneGraphIIWA ( )

inline

getSceneGraphIIWA7()

tesseract_scene_graph::SceneGraph::UPtr tesseract_kinematics::test_suite::getSceneGraphIIWA7 ( )

inline

getSceneGraphUR()

tesseract_scene_graph::SceneGraph::UPtr tesseract_kinematics::test_suite::getSceneGraphUR ( const tesseract_kinematics::URParameters &  params, double  shoulder_offset, double  elbow_offset  )

inline

getTargetLimits()

tesseract_common::KinematicLimits tesseract_kinematics::test_suite::getTargetLimits ( const tesseract_scene_graph::SceneGraph &  scene_graph, const std::vector< std::string > &  joint_names  )

inline

runActiveLinkNamesABBExternalPositionerTest()

void tesseract_kinematics::test_suite::runActiveLinkNamesABBExternalPositionerTest ( const tesseract_kinematics::KinematicGroup &  kin_group )

inline

runActiveLinkNamesABBOnPositionerTest()

void tesseract_kinematics::test_suite::runActiveLinkNamesABBOnPositionerTest ( const tesseract_kinematics::KinematicGroup &  kin_group )

inline

runActiveLinkNamesABBTest()

void tesseract_kinematics::test_suite::runActiveLinkNamesABBTest ( const tesseract_kinematics::KinematicGroup &  kin_group )

inline

runActiveLinkNamesIIWATest()

void tesseract_kinematics::test_suite::runActiveLinkNamesIIWATest ( const tesseract_kinematics::KinematicGroup &  kin_group )

inline

runActiveLinkNamesURTest()

void tesseract_kinematics::test_suite::runActiveLinkNamesURTest ( const tesseract_kinematics::KinematicGroup &  kin_group )

inline

runFwdKinIIWATest()

void tesseract_kinematics::test_suite::runFwdKinIIWATest ( tesseract_kinematics::ForwardKinematics &  kin )

inline

runInvKinIIWATest()

void tesseract_kinematics::test_suite::runInvKinIIWATest ( const tesseract_kinematics::KinematicsPluginFactory &  factory, const std::string &  inv_factory_name, const std::string &  fwd_factory_name  )

inline

runInvKinTest() [1/2]

void tesseract_kinematics::test_suite::runInvKinTest ( const tesseract_kinematics::InverseKinematics &  inv_kin, const tesseract_kinematics::ForwardKinematics &  fwd_kin, const Eigen::Isometry3d &  target_pose, const std::string &  tip_link_name, const Eigen::VectorXd &  seed  )

inline

Run inverse kinematics test comparing the inverse solution to the forward solution.

Parameters

inv_kin	The inverse kinematics object
fwd_kin	The forward kinematics object to compare to
target_pose	The target pose to solve inverse kinematics for
seed	The seed used for solving inverse kinematics

runInvKinTest() [2/2]

void tesseract_kinematics::test_suite::runInvKinTest ( const tesseract_kinematics::KinematicGroup &  kin_group, const Eigen::Isometry3d &  target_pose, const std::string &  working_frame, const std::string &  tip_link_name, const Eigen::VectorXd &  seed  )

inline

Run inverse kinematics test comparing the inverse solution to the forward solution.

Parameters

kin_group	The kinematic group
target_pose	The target pose to solve inverse kinematics for
seed	The seed used for solving inverse kinematics

runJacobianIIWATest()

void tesseract_kinematics::test_suite::runJacobianIIWATest ( tesseract_kinematics::ForwardKinematics &  kin, bool  is_kin_tree = false  )

inline

runJacobianTest() [1/2]

void tesseract_kinematics::test_suite::runJacobianTest ( tesseract_kinematics::ForwardKinematics &  kin, const Eigen::VectorXd &  jvals, const std::string &  link_name, const Eigen::Vector3d &  link_point, const Eigen::Isometry3d &  change_base  )

inline

Run a kinematic jacobian test.

Parameters

kin	The kinematics object
jvals	The joint values to calculate the jacobian about
link_name	Name of link to calculate jacobian. If empty it will use the function that does not require link name
link_point	Is expressed in the same base frame of the jacobian and is a vector from the old point to the new point.
change_base	The transform from the desired frame to the current base frame of the jacobian

runJacobianTest() [2/2]

void tesseract_kinematics::test_suite::runJacobianTest ( tesseract_kinematics::KinematicGroup &  kin_group, const Eigen::VectorXd &  jvals, const std::string &  link_name, const Eigen::Vector3d &  link_point  )

inline

Run a kinematic jacobian test.

Parameters

kin	The kinematics object
jvals	The joint values to calculate the jacobian about
link_name	Name of link to calculate jacobian. If empty it will use the function that does not require link name
link_point	Is expressed in the same base frame of the jacobian and is a vector from the old point to the new point.

runKinGroupJacobianABBExternalPositionerTest()

void tesseract_kinematics::test_suite::runKinGroupJacobianABBExternalPositionerTest ( tesseract_kinematics::KinematicGroup &  kin_group )

inline

runKinGroupJacobianABBOnPositionerTest()

void tesseract_kinematics::test_suite::runKinGroupJacobianABBOnPositionerTest ( tesseract_kinematics::KinematicGroup &  kin_group )

inline

runKinGroupJacobianIIWATest()

void tesseract_kinematics::test_suite::runKinGroupJacobianIIWATest ( tesseract_kinematics::KinematicGroup &  kin_group )

inline

runKinJointLimitsTest()

void tesseract_kinematics::test_suite::runKinJointLimitsTest ( const tesseract_common::KinematicLimits &  limits, const tesseract_common::KinematicLimits &  target_limits  )

inline

Run kinematic limits test.

Parameters

limits	The limits to check
target_limits	The target to compare to

runKinSetJointLimitsTest()

void tesseract_kinematics::test_suite::runKinSetJointLimitsTest ( tesseract_kinematics::KinematicGroup &  kin_group )

inline

Run kinematics setJointLimits function test.

Parameters

kin	Kinematic object to test

runStringVectorEqualTest()

void tesseract_kinematics::test_suite::runStringVectorEqualTest ( const std::vector< std::string > &  names, const std::vector< std::string > &  target_names  )

inline

Check if two vectors of strings are equal but ignore order.

Parameters

names	Vector to check
target_names	Target to compare against