trajectory_player_unit.cpp File Reference

#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <tesseract_visualization/trajectory_player.h>
#include <tesseract_visualization/trajectory_interpolator.h>

Include dependency graph for trajectory_player_unit.cpp:

Functions
	for (long i=0;i< 10;++i)
player	setTrajectory (trajectory)
	EXPECT_NEAR (player.trajectoryDuration(), 9, 1e-5)
	EXPECT_NEAR (player.currentDuration(), 0, 1e-5)
	EXPECT_NEAR (s.time, 9, 1e-5)
	EXPECT_NEAR (s.position(0), 9, 1e-5)
	EXPECT_TRUE (player.isFinished())
player	setCurrentDuration (0)
	EXPECT_FALSE (player.isFinished())
	EXPECT_NEAR (s.time, 0, 1e-5)
	EXPECT_NEAR (s.position(0), 0, 1e-5)
TrajectoryInterpolator	interpolator (trajectory)
	EXPECT_EQ (interpolator.getStateCount(), 10)
int	main (int argc, char **argv)

Variables
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH	TESSERACT_COMMON_IGNORE_WARNINGS_POP
std::vector< std::string >	joint_names = { "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" }
JointTrajectory	trajectory
TrajectoryPlayer	player
JointState	s = interpolator.getState(10)

Function Documentation

EXPECT_EQ()

EXPECT_EQ	(	interpolator.	getStateCount(),
		10
	)

EXPECT_FALSE()

EXPECT_FALSE

(

player.

isFinished()

)

EXPECT_NEAR() [1/6]

EXPECT_NEAR	(	player.	currentDuration(),
		0	,
		1e-	5
	)

EXPECT_NEAR() [2/6]

EXPECT_NEAR	(	player.	trajectoryDuration(),
		9	,
		1e-	5
	)

EXPECT_NEAR() [3/6]

EXPECT_NEAR	(	s.	position0,
		0	,
		1e-	5
	)

EXPECT_NEAR() [4/6]

EXPECT_NEAR	(	s.	position0,
		9	,
		1e-	5
	)

EXPECT_NEAR() [5/6]

EXPECT_NEAR	(	s.	time,
		0	,
		1e-	5
	)

Initial value:

{
    JointState s = player.setCurrentDuration(-1)

EXPECT_NEAR() [6/6]

EXPECT_NEAR	(	s.	time,
		9	,
		1e-	5
	)

Initial value:

{
    JointState s = player.setCurrentDuration(10)

EXPECT_TRUE()

EXPECT_TRUE

(

player.

isFinished()

)

for()

for

(

)

interpolator()

TrajectoryInterpolator interpolator

(

trajectory

)

main()

int main	(	int	argc,
		char **	argv
	)

setCurrentDuration()

player setCurrentDuration

(

0

)

setTrajectory()

player setTrajectory

(

trajectory

)

Variable Documentation

joint_names

std::vector<std::string> joint_names = { "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" }

player

TrajectoryPlayer player

s

JointState s = interpolator.getState(10)

TESSERACT_COMMON_IGNORE_WARNINGS_POP

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP

Initial value:

{
  using namespace tesseract_visualization

trajectory

JointTrajectory trajectory