ur_kinematics_unit.cpp File Reference

#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <fstream>
#include "kinematics_test_utils.h"
#include <tesseract_kinematics/ur/ur_inv_kin.h>
#include <tesseract_kinematics/kdl/kdl_fwd_kin_chain.h>

Include dependency graph for ur_kinematics_unit.cpp:

Functions
void	runURKinematicsTests (const URParameters &params, double shoulder_offset, double elbow_offset, const Eigen::Isometry3d &pose)
pose	setIdentity ()
pose	translation ()[0]=0.75
	runURKinematicsTests (UR10Parameters, shoulder_offset, elbow_offset, pose)
	runURKinematicsTests (UR5Parameters, shoulder_offset, elbow_offset, pose)
	runURKinematicsTests (UR3Parameters, shoulder_offset, elbow_offset, pose)
	runURKinematicsTests (UR10eParameters, shoulder_offset, elbow_offset, pose)
	runURKinematicsTests (UR5eParameters, shoulder_offset, elbow_offset, pose)
	runURKinematicsTests (UR3eParameters, shoulder_offset, elbow_offset, pose)
int	main (int argc, char **argv)

Variables
double	shoulder_offset { 0.220941 }
double	elbow_offset { -0.1719 }

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

runURKinematicsTests() [1/7]

void runURKinematicsTests	(	const URParameters &	params,
		double	shoulder_offset,
		double	elbow_offset,
		const Eigen::Isometry3d &	pose
	)

runURKinematicsTests() [2/7]

runURKinematicsTests	(	UR10eParameters	,
		shoulder_offset	,
		elbow_offset	,
		pose
	)

runURKinematicsTests() [3/7]

runURKinematicsTests	(	UR10Parameters	,
		shoulder_offset	,
		elbow_offset	,
		pose
	)

runURKinematicsTests() [4/7]

runURKinematicsTests	(	UR3eParameters	,
		shoulder_offset	,
		elbow_offset	,
		pose
	)

runURKinematicsTests() [5/7]

runURKinematicsTests	(	UR3Parameters	,
		shoulder_offset	,
		elbow_offset	,
		pose
	)

runURKinematicsTests() [6/7]

runURKinematicsTests	(	UR5eParameters	,
		shoulder_offset	,
		elbow_offset	,
		pose
	)

runURKinematicsTests() [7/7]

runURKinematicsTests	(	UR5Parameters	,
		shoulder_offset	,
		elbow_offset	,
		pose
	)

setIdentity()

pose setIdentity

(

)

translation()

pose translation ( )

pure virtual

Variable Documentation

elbow_offset

double elbow_offset { -0.1719 }

shoulder_offset

double shoulder_offset { 0.220941 }