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 dependency graph for opw_kinematics_unit.cpp:

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)
int	main (int argc, char **argv)

Variables
Eigen::VectorXd	seed = Eigen::VectorXd::Zero(6)
auto	scene_graph = getSceneGraphABB()
std::string	manip_name = "manip"
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()

Detailed Description

Tesseract opw kinematics test.

Author

Levi Armstrong

Date

Feb 4, 2021

Version

TODO

Bug:

No known bugs

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.

Author

Levi Armstrong

Date

Feb 4, 2021

Version

TODO

Bug:

No known bugs

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.

Author

Levi Armstrong

Date

Feb 4, 2021

Version

TODO

Bug:

No known bugs

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.

Author

Levi Armstrong

Date

Feb 4, 2021

Version

TODO

Bug:

No known bugs

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.

Function Documentation

EXPECT_EQ() [1/12]

EXPECT_EQ	(	inv_kin->	getBaseLinkName(),
		base_link_name
	)

EXPECT_EQ() [2/12]

EXPECT_EQ	(	inv_kin->	getJointNames(),
		joint_names
	)

EXPECT_EQ() [3/12]

EXPECT_EQ	(	inv_kin->	getSolverName(),
		OPW_INV_KIN_CHAIN_SOLVER_NAME
	)

EXPECT_EQ() [4/12]

EXPECT_EQ	(	inv_kin->	getTipLinkNames).size(,
		1
	)

EXPECT_EQ() [5/12]

EXPECT_EQ	(	inv_kin->	getTipLinkNames()[0],
		tip_link_name
	)

EXPECT_EQ() [6/12]

EXPECT_EQ	(	inv_kin->	numJoints(),
		6
	)

EXPECT_EQ() [7/12]

EXPECT_EQ	(	inv_kin2->	getBaseLinkName(),
		base_link_name
	)

EXPECT_EQ() [8/12]

EXPECT_EQ	(	inv_kin2->	getJointNames(),
		joint_names
	)

EXPECT_EQ() [9/12]

EXPECT_EQ	(	inv_kin2->	getSolverName(),
		OPW_INV_KIN_CHAIN_SOLVER_NAME
	)

EXPECT_EQ() [10/12]

EXPECT_EQ	(	inv_kin2->	getTipLinkNames).size(,
		1
	)

EXPECT_EQ() [11/12]

EXPECT_EQ	(	inv_kin2->	getTipLinkNames()[0],
		tip_link_name
	)

EXPECT_EQ() [12/12]

EXPECT_EQ	(	inv_kin2->	numJoints(),
		6
	)

EXPECT_TRUE()

EXPECT_TRUE

(

inv_kin2 !

= nullptr

)

getOPWKinematicsParamABB()

opw_kinematics::Parameters< double > getOPWKinematicsParamABB ( )

inline

main()

int main	(	int	argc,
		char **	argv
	)

setIdentity()

pose setIdentity

(

)

translation()

pose translation

(

)

Variable Documentation

base_link_name

std::string base_link_name = "base_link"

inv_kin

runInvKinTest* inv_kin = std::make_shared<OPWInvKin>(opw_params, base_link_name, tip_link_name, joint_names)

inv_kin2

runInvKinTest* inv_kin2 = inv_kin->clone()

joint_names

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

manip_name

std::string manip_name = "manip"

opw_params

opw_kinematics::Parameters<double> opw_params = getOPWKinematicsParamABB()

scene_graph

KDLFwdKinChain fwd_kin* scene_graph = getSceneGraphABB()

seed

Eigen::VectorXd seed = Eigen::VectorXd::Zero(6)

tip_link_name

std::string tip_link_name = "tool0"