tesseract_scene_graph::test_suite Namespace Reference

Functions
SceneGraph::UPtr	getSceneGraph ()
SceneGraph::UPtr	getSubSceneGraph ()
void	runCompareSceneStates (const SceneState &base_state, const SceneState &compare_state)
void	runCompareStateSolver (const StateSolver &base_solver, StateSolver &comp_solver)
void	runCompareStateSolverLimits (const SceneGraph &scene_graph, const StateSolver &comp_solver)
static void	numericalJacobian (Eigen::Ref< Eigen::MatrixXd > jacobian, const Eigen::Isometry3d &change_base, const StateSolver &state_solver, const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const std::string &link_name, const Eigen::Ref< const Eigen::Vector3d > &link_point)
	Numerically calculate a jacobian. This is mainly used for testing. More...
void	runCompareJacobian (StateSolver &state_solver, const std::vector< std::string > &joint_names, 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	runCompareJacobian (StateSolver &state_solver, const std::unordered_map< std::string, double > &joints_values, const std::string &link_name, const Eigen::Vector3d &link_point, const Eigen::Isometry3d &change_base)
template<typename S >
void	runJacobianTest ()
template<typename S >
void	runAddandRemoveLinkTest ()
template<typename S >
void	runAddSceneGraphTest ()
template<typename S >
void	runChangeJointOriginTest ()
template<typename S >
void	runMoveJointTest ()
template<typename S >
void	runMoveLinkTest ()
template<typename S >
void	runChangeJointLimitsTest ()
template<typename S >
void	runReplaceJointTest ()

Function Documentation

getSceneGraph()

SceneGraph::UPtr tesseract_scene_graph::test_suite::getSceneGraph ( )

inline

getSubSceneGraph()

SceneGraph::UPtr tesseract_scene_graph::test_suite::getSubSceneGraph ( )

inline

numericalJacobian()

static void tesseract_scene_graph::test_suite::numericalJacobian ( Eigen::Ref< Eigen::MatrixXd >  jacobian, const Eigen::Isometry3d &  change_base, const StateSolver &  state_solver, const std::vector< std::string > &  joint_names, const Eigen::Ref< const Eigen::VectorXd > &  joint_values, const std::string &  link_name, const Eigen::Ref< const Eigen::Vector3d > &  link_point  )

inlinestatic

Numerically calculate a jacobian. This is mainly used for testing.

Parameters

jacobian	(Return) The jacobian which gets filled out.
state_solver	The state solver object
joint_values	The joint values for which to calculate the jacobian
link_name	The link_name for which the jacobian should be calculated
link_point	The point on the link for which to calculate the jacobian

runAddandRemoveLinkTest()

template<typename S >

void tesseract_scene_graph::test_suite::runAddandRemoveLinkTest

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runAddSceneGraphTest()

template<typename S >

void tesseract_scene_graph::test_suite::runAddSceneGraphTest

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runChangeJointLimitsTest()

template<typename S >

void tesseract_scene_graph::test_suite::runChangeJointLimitsTest

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runChangeJointOriginTest()

template<typename S >

void tesseract_scene_graph::test_suite::runChangeJointOriginTest

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runCompareJacobian() [1/2]

void tesseract_scene_graph::test_suite::runCompareJacobian ( StateSolver &  state_solver, const std::unordered_map< std::string, double > &  joints_values, const std::string &  link_name, const Eigen::Vector3d &  link_point, const Eigen::Isometry3d &  change_base  )

inline

runCompareJacobian() [2/2]

void tesseract_scene_graph::test_suite::runCompareJacobian ( StateSolver &  state_solver, const std::vector< std::string > &  joint_names, 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

state_solver	The state solver 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

runCompareSceneStates()

void tesseract_scene_graph::test_suite::runCompareSceneStates ( const SceneState &  base_state, const SceneState &  compare_state  )

inline

runCompareStateSolver()

void tesseract_scene_graph::test_suite::runCompareStateSolver ( const StateSolver &  base_solver, StateSolver &  comp_solver  )

inline

runCompareStateSolverLimits()

void tesseract_scene_graph::test_suite::runCompareStateSolverLimits ( const SceneGraph &  scene_graph, const StateSolver &  comp_solver  )

inline

runJacobianTest()

template<typename S >

void tesseract_scene_graph::test_suite::runJacobianTest ( )

inline

runMoveJointTest()

template<typename S >

void tesseract_scene_graph::test_suite::runMoveJointTest

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runMoveLinkTest()

template<typename S >

void tesseract_scene_graph::test_suite::runMoveLinkTest

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runReplaceJointTest()

template<typename S >

void tesseract_scene_graph::test_suite::runReplaceJointTest

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