ikfast_kinematics_7dof_unit.cpp File Reference

#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <fstream>
#include "kinematics_test_utils.h"
#include "iiwa7_ikfast_kinematics.h"
#include <tesseract_kinematics/kdl/kdl_fwd_kin_chain.h>

Include dependency graph for ikfast_kinematics_7dof_unit.cpp:

Functions
pose	setIdentity ()
pose	translation ()[0]=0.223
	EXPECT_EQ (iiwa_inv_kin->getSolverName(), IKFAST_INV_KIN_CHAIN_SOLVER_NAME)
	EXPECT_EQ (iiwa_inv_kin->numJoints(), 7)
	EXPECT_EQ (iiwa_inv_kin->getBaseLinkName(), base_link_name)
	EXPECT_EQ (iiwa_inv_kin->getTipLinkNames().size(), 1)
	EXPECT_EQ (iiwa_inv_kin->getTipLinkNames()[0], tip_link_name)
	EXPECT_EQ (iiwa_inv_kin->getJointNames(), joint_names)
	EXPECT_TRUE (iiwa_inv_kin2 !=nullptr)
	EXPECT_EQ (iiwa_inv_kin2->getSolverName(), IKFAST_INV_KIN_CHAIN_SOLVER_NAME)
	EXPECT_EQ (iiwa_inv_kin2->numJoints(), 7)
	EXPECT_EQ (iiwa_inv_kin2->getBaseLinkName(), base_link_name)
	EXPECT_EQ (iiwa_inv_kin2->getTipLinkNames().size(), 1)
	EXPECT_EQ (iiwa_inv_kin2->getTipLinkNames()[0], tip_link_name)
	EXPECT_EQ (iiwa_inv_kin2->getJointNames(), joint_names)
int	main (int argc, char **argv)

Variables
Eigen::VectorXd	seed = Eigen::VectorXd::Zero(7)
auto	scene_graph = getSceneGraphIIWA7()
std::string	base_link_name = "link_0"
std::string	tip_link_name = "ikfast_tcp_link"
std::vector< std::string >	joint_names { "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "joint_7" }
std::vector< std::vector< double > >	free_joint_states = { { -2.0 }, { -1.0 }, { 0.0 }, { 1.0 }, { 2.0 } }
auto	iiwa_inv_kin
InverseKinematics::Ptr	iiwa_inv_kin2 = iiwa_inv_kin->clone()

Function Documentation

EXPECT_EQ() [1/12]

EXPECT_EQ	(	iiwa_inv_kin->	getBaseLinkName(),
		base_link_name
	)

EXPECT_EQ() [2/12]

EXPECT_EQ	(	iiwa_inv_kin->	getJointNames(),
		joint_names
	)

EXPECT_EQ() [3/12]

EXPECT_EQ	(	iiwa_inv_kin->	getSolverName(),
		IKFAST_INV_KIN_CHAIN_SOLVER_NAME
	)

EXPECT_EQ() [4/12]

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

EXPECT_EQ() [5/12]

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

EXPECT_EQ() [6/12]

EXPECT_EQ	(	iiwa_inv_kin->	numJoints(),
		7
	)

EXPECT_EQ() [7/12]

EXPECT_EQ	(	iiwa_inv_kin2->	getBaseLinkName(),
		base_link_name
	)

EXPECT_EQ() [8/12]

EXPECT_EQ	(	iiwa_inv_kin2->	getJointNames(),
		joint_names
	)

EXPECT_EQ() [9/12]

EXPECT_EQ	(	iiwa_inv_kin2->	getSolverName(),
		IKFAST_INV_KIN_CHAIN_SOLVER_NAME
	)

EXPECT_EQ() [10/12]

EXPECT_EQ	(	iiwa_inv_kin2->	getTipLinkNames).size(,
		1
	)

EXPECT_EQ() [11/12]

EXPECT_EQ	(	iiwa_inv_kin2->	getTipLinkNames()[0],
		tip_link_name
	)

EXPECT_EQ() [12/12]

EXPECT_EQ	(	iiwa_inv_kin2->	numJoints(),
		7
	)

EXPECT_TRUE()

EXPECT_TRUE

(

iiwa_inv_kin2 !

= nullptr

)

main()

int main	(	int	argc,
		char **	argv
	)

setIdentity()

pose setIdentity

(

)

translation()

pose translation ( )

pure virtual

Variable Documentation

base_link_name

std::string base_link_name = "link_0"

free_joint_states

std::vector<std::vector<double> > free_joint_states = { { -2.0 }, { -1.0 }, { 0.0 }, { 1.0 }, { 2.0 } }

iiwa_inv_kin

runInvKinTest * iiwa_inv_kin

Initial value:

= std::make_shared<iiwa7Kinematics>(
      base_link_name, tip_link_name, joint_names, IKFAST_INV_KIN_CHAIN_SOLVER_NAME, free_joint_states)

iiwa_inv_kin2

runInvKinTest * iiwa_inv_kin2 = iiwa_inv_kin->clone()

joint_names

std::vector<std::string> joint_names { "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "joint_7" }

scene_graph

KDLFwdKinChain fwd_kin * scene_graph = getSceneGraphIIWA7()

seed

Eigen::VectorXd seed = Eigen::VectorXd::Zero(7)

tip_link_name

std::string tip_link_name = "ikfast_tcp_link"