tesseract_common_unit.cpp File Reference

#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <type_traits>
#include <boost/archive/xml_oarchive.hpp>
#include <boost/archive/xml_iarchive.hpp>
#include <tesseract_common/utils.h>
#include <tesseract_common/sfinae_utils.h>
#include <tesseract_common/resource_locator.h>
#include <tesseract_common/manipulator_info.h>
#include <tesseract_common/joint_state.h>
#include <tesseract_common/types.h>
#include <tesseract_common/any_poly.h>
#include <tesseract_common/kinematic_limits.h>
#include <tesseract_common/yaml_utils.h>

Include dependency graph for tesseract_common_unit.cpp:

Classes
struct	TestHasMemberFunction
struct	TestHasMemberWithArgFunction
struct	TestMissingMemberFunction

Functions
	EXPECT_TRUE (tesseract_common::isNumeric(true_test))
	for (const auto &s :true_test)
	EXPECT_FALSE (tesseract_common::isNumeric(false_test))
	for (const auto &s :false_test)
	EXPECT_FALSE (tesseract_common::isNumeric(empty_string))
	for (size_t i=0;i< true_test.size();++i)
	EXPECT_FALSE (tesseract_common::toNumeric(empty_string, value))
	limits (0, 0)
	limits (0, 1)
	limits (1, 0)=0
	limits (1, 1)
	limits (2, 0)
	limits (2, 1)
	limits (3, 0)
	limits (3, 1)
	EXPECT_EQ (limits.rows(), random_numbers.rows())
	EXPECT_EQ (empty_limits.rows(), random_numbers2.rows())
Eigen::MatrixX2d	equal_limits (4, 2)
	equal_limits (0, 0)
	equal_limits (0, 1)
	equal_limits (1, 0)
	equal_limits (1, 1)
	equal_limits (2, 0)
	equal_limits (2, 1)
	equal_limits (3, 0)
	equal_limits (3, 1)
	EXPECT_EQ (equal_limits.rows(), random_numbers3.rows())
Eigen::MatrixX2d	wrong_limits (4, 2)
	wrong_limits (0, 0)
	wrong_limits (0, 1)
	wrong_limits (1, 0)
	wrong_limits (1, 1)
	wrong_limits (2, 0)
	wrong_limits (2, 1)
	wrong_limits (3, 0)
	wrong_limits (3, 1)
	EXPECT_EQ (wrong_limits.rows(), random_numbers4.rows())
	EXPECT_EQ (s, check1)
	EXPECT_EQ (s, check_trimmed)
	EXPECT_EQ (s, check2)
	CREATE_MEMBER_CHECK (update)
	CREATE_MEMBER_FUNC_INVOCABLE_CHECK (update, std::shared_ptr< T > &)
	CREATE_MEMBER_FUNC_INVOCABLE_CHECK (add, double, double)
	CREATE_MEMBER_FUNC_RETURN_TYPE_CHECK (add, int, int)
	CREATE_MEMBER_FUNC_SIGNATURE_CHECK (add, double, double, double)
	EXPECT_TRUE (t_true)
	EXPECT_FALSE (t_false)
	EXPECT_TRUE (i_update_true)
	EXPECT_TRUE (i_add_true)
	EXPECT_FALSE (i_update_false)
	EXPECT_FALSE (i_add_false)
	EXPECT_FALSE (t_add_false)
	EXPECT_EQ (bytes_resource->getUrl(), "package://test_package/data.bin")
	EXPECT_EQ (bytes_resource->isFile(), false)
	EXPECT_EQ (bytes_resource->getFilePath(), "")
	EXPECT_EQ (bytes_resource->locateResource("test"), nullptr)
	ASSERT_EQ (data.size(), data2.size())
	for (unsigned char &i :data)
	EXPECT_EQ (bytes_resource2->getUrl(), "package://test_package/data.bin")
	EXPECT_EQ (bytes_resource->getResourceContents().size(), data.size())
	EXPECT_TRUE (manip_info.empty())
	EXPECT_TRUE (manip_info.tcp_frame.empty())
	EXPECT_TRUE (manip_info.manipulator.empty())
	EXPECT_TRUE (manip_info.manipulator_ik_solver.empty())
	EXPECT_TRUE (manip_info.working_frame.empty())
	EXPECT_FALSE (manip_info.empty())
	EXPECT_TRUE (manip_info.tcp_frame==manip_info_override.tcp_frame)
	EXPECT_EQ (manip_info.manipulator, manip_info_override.manipulator)
	EXPECT_TRUE (joint_state.joint_names==joint_names)
	EXPECT_TRUE (joint_state.position.isApprox(positons, 1e-5))
	TESSERACT_ANY_EXPORT (tesseract_common, JointState)
	EXPECT_TRUE (any_type.getType()==std::type_index(typeid(nullptr)))
	EXPECT_TRUE (any_type.as< tesseract_common::JointState >()==joint_state)
	EXPECT_TRUE (any_copy==any_type)
boost::archive::xml_oarchive	oa (os)
oa<< BOOST_SERIALIZATION_NVP(any_type);} tesseract_common::AnyPoly nany_type;{ std::ifstream ifs(tesseract_common::getTempPath()+"any_type_boost.xml");assert(ifs.good());boost::archive::xml_iarchive ia(ifs);ia >	BOOST_SERIALIZATION_NVP (nany_type)
	EXPECT_TRUE (nany_type.getType()==std::type_index(typeid(tesseract_common::JointState)))
	EXPECT_TRUE (nany_type.as< tesseract_common::JointState >()==joint_state)
	EXPECT_ANY_THROW (nany_type.as< tesseract_common::Toolpath >())
Eigen::MatrixX2d	limits (6, 2)
limits	col (0)
limits	col (1)
	EXPECT_FALSE (tesseract_common::isWithinPositionLimits< double >(v, limits))
	EXPECT_TRUE (tesseract_common::satisfiesPositionLimits< double >(v, limits, std::numeric_limits< float >::epsilon()))
	EXPECT_FALSE (tesseract_common::satisfiesPositionLimits< double >(v, limits, std::numeric_limits< double >::epsilon()))
	EXPECT_TRUE (tesseract_common::satisfiesPositionLimits< double >(v, limits, std::numeric_limits< double >::epsilon()))
	ASSERT_EQ ((v - limits.col(0)).norm(), 0)
	ASSERT_EQ ((v - limits.col(1)).norm(), 0)
	EXPECT_TRUE (tesseract_common::isWithinPositionLimits< double >(v, limits))
	v (3)
	EXPECT_TRUE (tesseract_common::isIdentical(v1, v2, false))
	EXPECT_TRUE (tesseract_common::isIdentical(v1, v2, true))
	EXPECT_FALSE (tesseract_common::isIdentical(v1, v2, true))
	EXPECT_FALSE (tesseract_common::isIdentical(v1, v2, false))
	EXPECT_FALSE (equal)
	EXPECT_TRUE (equal)
v1	clear ()
v1	insert (1)
v2	insert (2)

Variables
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH	TESSERACT_COMMON_IGNORE_WARNINGS_POP
std::vector< std::string >	false_test = { "a", "test sdfs", "1 2", "1.0 2.0", "+", "-", "=" }
std::string	empty_string
std::vector< double >	true_test_value = { 1, 1.5, -1, -1.5, 1e-5, 1e5, -1e-5, -1e5, 1.0e-5, 1.0e5, -1.0e-5, -1.0e5 }
double	value = 0
Eigen::VectorXd	random_numbers = tesseract_common::generateRandomNumber(limits)
Eigen::MatrixX2d	empty_limits
Eigen::VectorXd	random_numbers2 = tesseract_common::generateRandomNumber(empty_limits)
Eigen::VectorXd	random_numbers3 = tesseract_common::generateRandomNumber(equal_limits)
Eigen::VectorXd	random_numbers4 = tesseract_common::generateRandomNumber(wrong_limits)
std::string	check2 = "trim "
std::string	check3 = " trim "
std::string	check_trimmed = "trim"
std::string	s = check1
bool	t_false = has_member_update<TestMissingMemberFunction>::value
bool	i_add_true = has_member_func_invocable_add<TestHasMemberWithArgFunction>::value
bool	i_update_false = has_member_func_invocable_update<TestHasMemberFunction>::value
bool	i_add_false = has_member_func_invocable_add<TestHasMemberFunction>::value
bool	t_add_false = has_member_func_return_type_add<TestMissingMemberFunction>::value
std::shared_ptr< tesseract_common::BytesResource >	bytes_resource
auto	data2 = bytes_resource->getResourceContents()
auto	data2_stream = bytes_resource->getResourceContentStream()
std::shared_ptr< tesseract_common::BytesResource >	bytes_resource2
tesseract_common::ManipulatorInfo	manip_info_override ("manipulator", "world", "tool0")
manip_info_override	tcp_offset = Eigen::Isometry3d::Identity() * Eigen::Translation3d(0.0, 0.0, 0.25)
manip_info_override	manipulator_ik_solver = "OPWInvKin"
manip_info_override	working_frame = "base_link"
	manip_info = manip_info.getCombined(manip_info_override)
Eigen::VectorXd	positons = Eigen::VectorXd::Constant(3, 5)
tesseract_common::JointState	joint_state (joint_names, positons)
joint_state	joint_names = { "joint_1", "joint_2", "joint_3" }
joint_state	position = Eigen::VectorXd::Constant(3, 5)
joint_state	velocity = Eigen::VectorXd::Constant(3, 6)
joint_state	acceleration = Eigen::VectorXd::Constant(3, 7)
joint_state	effort = Eigen::VectorXd::Constant(3, 8)
joint_state	time = 100
	any_type = joint_state
tesseract_common::AnyPoly	any_copy = any_type
auto &	any_type_ref1 = any_type.as<tesseract_common::JointState>()
auto &	any_type_ref2 = any_type.as<tesseract_common::JointState>()
auto &	any_copy_ref = any_copy.as<tesseract_common::JointState>()
const auto &	any_type_const_ref1 = any_type.as<tesseract_common::JointState>()
const auto &	any_type_const_ref2 = any_type.as<tesseract_common::JointState>()
	v = v.array() + std::numeric_limits<float>::epsilon()
std::vector< std::string >	v2 { "a", "b", "c" }
	v1 ["1"] = 1
bool	equal = tesseract_common::isIdenticalMap<std::map<std::string, int>, int>(v1, v2)

Function Documentation

ASSERT_EQ() [1/3]

ASSERT_EQ	(	(v - limits.col(0)).norm()	,
		0
	)

ASSERT_EQ() [2/3]

ASSERT_EQ	(	(v - limits.col(1)).norm()	,
		0
	)

ASSERT_EQ() [3/3]

ASSERT_EQ	(	data.	size(),
		data2.	size()
	)

BOOST_SERIALIZATION_NVP()

oa<< BOOST_SERIALIZATION_NVP(any_type); } tesseract_common::AnyPoly nany_type; { std::ifstream ifs(tesseract_common::getTempPath()+"any_type_boost.xml"); assert(ifs.good()); boost::archive::xml_iarchive ia(ifs); ia > BOOST_SERIALIZATION_NVP

(

nany_type

)

clear()

v1 clear

(

)

col() [1/2]

limits col

(

0

)

col() [2/2]

limits col

(

1

)

CREATE_MEMBER_CHECK()

CREATE_MEMBER_CHECK

(

update

)

CREATE_MEMBER_FUNC_INVOCABLE_CHECK() [1/2]

CREATE_MEMBER_FUNC_INVOCABLE_CHECK	(	add	,
		double	,
		double
	)

CREATE_MEMBER_FUNC_INVOCABLE_CHECK() [2/2]

CREATE_MEMBER_FUNC_INVOCABLE_CHECK	(	update	,
		std::shared_ptr< T > &
	)

CREATE_MEMBER_FUNC_RETURN_TYPE_CHECK()

CREATE_MEMBER_FUNC_RETURN_TYPE_CHECK	(	add	,
		int	,
		int
	)

CREATE_MEMBER_FUNC_SIGNATURE_CHECK()

CREATE_MEMBER_FUNC_SIGNATURE_CHECK	(	add	,
		double	,
		double	,
		double
	)

equal_limits() [1/9]

equal_limits	(	0	,
		0
	)

equal_limits() [2/9]

equal_limits	(	0	,
		1
	)

equal_limits() [3/9]

equal_limits	(	1	,
		0
	)

equal_limits() [4/9]

equal_limits	(	1	,
		1
	)

equal_limits() [5/9]

equal_limits	(	2	,
		0
	)

equal_limits() [6/9]

equal_limits	(	2	,
		1
	)

equal_limits() [7/9]

equal_limits	(	3	,
		0
	)

equal_limits() [8/9]

equal_limits	(	3	,
		1
	)

equal_limits() [9/9]

Eigen::MatrixX2d equal_limits	(	4	,
		2
	)

EXPECT_ANY_THROW()

EXPECT_ANY_THROW

(

nany_type.as< tesseract_common::Toolpath >

()

)

EXPECT_EQ() [1/14]

EXPECT_EQ	(	bytes_resource->	getFilePath(),
		""
	)

EXPECT_EQ() [2/14]

EXPECT_EQ	(	bytes_resource->	getResourceContents).size(,
		data.	size()
	)

EXPECT_EQ() [3/14]

EXPECT_EQ	(	bytes_resource->	getUrl(),
		"package://test_package/data.bin"
	)

EXPECT_EQ() [4/14]

EXPECT_EQ	(	bytes_resource->	isFile(),
		false
	)

EXPECT_EQ() [5/14]

EXPECT_EQ	(	bytes_resource->	locateResource"test",
		nullptr
	)

EXPECT_EQ() [6/14]

EXPECT_EQ	(	bytes_resource2->	getUrl(),
		"package://test_package/data.bin"
	)

EXPECT_EQ() [7/14]

EXPECT_EQ	(	empty_limits.	rows(),
		random_numbers2.	rows()
	)

EXPECT_EQ() [8/14]

EXPECT_EQ	(	equal_limits.	rows(),
		random_numbers3.	rows()
	)

EXPECT_EQ() [9/14]

EXPECT_EQ	(	limits.	rows(),
		random_numbers.	rows()
	)

EXPECT_EQ() [10/14]

EXPECT_EQ	(	manip_info.	manipulator,
		manip_info_override.	manipulator
	)

EXPECT_EQ() [11/14]

EXPECT_EQ	(	s	,
		check1
	)

EXPECT_EQ() [12/14]

EXPECT_EQ	(	s	,
		check2
	)

EXPECT_EQ() [13/14]

EXPECT_EQ	(	s	,
		check_trimmed
	)

EXPECT_EQ() [14/14]

EXPECT_EQ	(	wrong_limits.	rows(),
		random_numbers4.	rows()
	)

EXPECT_FALSE() [1/13]

EXPECT_FALSE

(

equal

)

EXPECT_FALSE() [2/13]

EXPECT_FALSE

(

i_add_false

)

EXPECT_FALSE() [3/13]

EXPECT_FALSE

(

i_update_false

)

EXPECT_FALSE() [4/13]

EXPECT_FALSE

(

manip_info.

empty()

)

EXPECT_FALSE() [5/13]

EXPECT_FALSE

(

t_add_false

)

EXPECT_FALSE() [6/13]

EXPECT_FALSE

(

t_false

)

EXPECT_FALSE() [7/13]

EXPECT_FALSE

(

tesseract_common::isIdentical(v1, v2, false)

)

EXPECT_FALSE() [8/13]

EXPECT_FALSE

(

tesseract_common::isIdentical(v1, v2, true)

)

EXPECT_FALSE() [9/13]

EXPECT_FALSE

(

tesseract_common::isNumeric(empty_string)

)

EXPECT_FALSE() [10/13]

EXPECT_FALSE

(

tesseract_common::isNumeric(false_test)

)

EXPECT_FALSE() [11/13]

EXPECT_FALSE

(

tesseract_common::isWithinPositionLimits< double >

v, limits

)

EXPECT_FALSE() [12/13]

EXPECT_FALSE

(

tesseract_common::satisfiesPositionLimits< double >

v, limits, std::numeric_limits< double >::epsilon()

)

EXPECT_FALSE() [13/13]

EXPECT_FALSE

(

tesseract_common::toNumeric(empty_string, value)

)

EXPECT_TRUE() [1/23]

EXPECT_TRUE

(

any_copy

= =any_type

)

EXPECT_TRUE() [2/23]

EXPECT_TRUE

(

any_type.as< tesseract_common::JointState >

() = =joint_state

)

EXPECT_TRUE() [3/23]

EXPECT_TRUE

(

any_type.

getType() = =std::type_index(typeid(nullptr))

)

EXPECT_TRUE() [4/23]

EXPECT_TRUE

(

equal

)

EXPECT_TRUE() [5/23]

EXPECT_TRUE

(

i_add_true

)

EXPECT_TRUE() [6/23]

EXPECT_TRUE

(

i_update_true

)

EXPECT_TRUE() [7/23]

EXPECT_TRUE

(

joint_state.

joint_names = =joint_names

)

EXPECT_TRUE() [8/23]

EXPECT_TRUE

(

joint_state.position.

isApproxpositons, 1e-5

)

EXPECT_TRUE() [9/23]

EXPECT_TRUE

(

manip_info.

empty()

)

Initial value:

{
    tesseract_common::ManipulatorInfo manip_info("manip", "world", "")

EXPECT_TRUE() [10/23]

EXPECT_TRUE

(

manip_info.manipulator.

empty()

)

EXPECT_TRUE() [11/23]

EXPECT_TRUE

(

manip_info.manipulator_ik_solver.

empty()

)

EXPECT_TRUE() [12/23]

EXPECT_TRUE

(

manip_info.tcp_frame.

empty()

)

EXPECT_TRUE() [13/23]

EXPECT_TRUE

(

manip_info.

tcp_frame = =manip_info_override.tcp_frame

)

EXPECT_TRUE() [14/23]

EXPECT_TRUE

(

manip_info.working_frame.

empty()

)

EXPECT_TRUE() [15/23]

EXPECT_TRUE

(

nany_type.as< tesseract_common::JointState >

() = =joint_state

)

EXPECT_TRUE() [16/23]

EXPECT_TRUE

(

nany_type.

getType() = =std::type_index(typeid(tesseract_common::JointState))

)

EXPECT_TRUE() [17/23]

EXPECT_TRUE

(

t_true

)

EXPECT_TRUE() [18/23]

EXPECT_TRUE

(

tesseract_common::isIdentical(v1, v2, false)

)

EXPECT_TRUE() [19/23]

EXPECT_TRUE

(

tesseract_common::isIdentical(v1, v2, true)

)

EXPECT_TRUE() [20/23]

EXPECT_TRUE

(

tesseract_common::isNumeric(true_test)

)

EXPECT_TRUE() [21/23]

EXPECT_TRUE

(

tesseract_common::isWithinPositionLimits< double >

v, limits

)

EXPECT_TRUE() [22/23]

EXPECT_TRUE

(

tesseract_common::satisfiesPositionLimits< double >

v, limits, std::numeric_limits< double >::epsilon()

)

EXPECT_TRUE() [23/23]

EXPECT_TRUE

(

tesseract_common::satisfiesPositionLimits< double >

v, limits, std::numeric_limits< float >::epsilon()

)

for() [1/4]

for

(

const auto &s :false_test

)

for() [2/4]

for

(

const auto &s :true_test

)

for() [3/4]

for

(

)

for() [4/4]

for

(

unsigned char &i :data

)

insert() [1/2]

v2 insert

(

1

)

insert() [2/2]

v1 insert

(

2

)

limits() [1/9]

limits	(	0	,
		0
	)

limits() [2/9]

limits	(	0	,
		1
	)

limits() [3/9]

limits ( 1  , 0    )

pure virtual

limits() [4/9]

limits	(	1	,
		1
	)

limits() [5/9]

limits	(	2	,
		0
	)

limits() [6/9]

limits	(	2	,
		1
	)

limits() [7/9]

limits	(	3	,
		0
	)

limits() [8/9]

limits	(	3	,
		1
	)

limits() [9/9]

Eigen::MatrixX2d limits	(	6	,
		2
	)

oa()

boost::archive::xml_oarchive oa

(

os

)

TESSERACT_ANY_EXPORT()

TESSERACT_ANY_EXPORT	(	tesseract_common	,
		JointState
	)

v()

v

(

3

)

wrong_limits() [1/9]

wrong_limits	(	0	,
		0
	)

wrong_limits() [2/9]

wrong_limits	(	0	,
		1
	)

wrong_limits() [3/9]

wrong_limits	(	1	,
		0
	)

wrong_limits() [4/9]

wrong_limits	(	1	,
		1
	)

wrong_limits() [5/9]

wrong_limits	(	2	,
		0
	)

wrong_limits() [6/9]

wrong_limits	(	2	,
		1
	)

wrong_limits() [7/9]

wrong_limits	(	3	,
		0
	)

wrong_limits() [8/9]

wrong_limits	(	3	,
		1
	)

wrong_limits() [9/9]

Eigen::MatrixX2d wrong_limits	(	4	,
		2
	)

Variable Documentation

acceleration

joint_state acceleration = Eigen::VectorXd::Constant(3, 7)

any_copy

tesseract_common::AnyPoly any_copy = any_type

any_copy_ref

auto& any_copy_ref = any_copy.as<tesseract_common::JointState>()

any_type

any_type = joint_state

any_type_const_ref1

EXPECT_TRUE & any_type_const_ref1 = any_type.as<tesseract_common::JointState>()

any_type_const_ref2

const auto& any_type_const_ref2 = any_type.as<tesseract_common::JointState>()

any_type_ref1

EXPECT_TRUE & any_type_ref1 = any_type.as<tesseract_common::JointState>()

any_type_ref2

EXPECT_TRUE & any_type_ref2 = any_type.as<tesseract_common::JointState>()

bytes_resource

std::shared_ptr<tesseract_common::BytesResource> bytes_resource

Initial value:

=
      std::make_shared<tesseract_common::BytesResource>("package://test_package/data.bin", data)

bytes_resource2

std::shared_ptr<tesseract_common::BytesResource> bytes_resource2

Initial value:

=
      std::make_shared<tesseract_common::BytesResource>("package://test_package/data.bin", data.data(), data.size())

check2

std::string check2 = "trim "

check3

std::string check3 = " trim "

check_trimmed

std::string check_trimmed = "trim"

data2

auto data2 = bytes_resource->getResourceContents()

data2_stream

auto data2_stream = bytes_resource->getResourceContentStream()

effort

joint_state effort = Eigen::VectorXd::Constant(3, 8)

empty_limits

Eigen::MatrixX2d empty_limits

empty_string

std::string empty_string

equal

bool equal = tesseract_common::isIdenticalMap<std::map<std::string, int>, int>(v1, v2)

false_test

std::vector< std::string > false_test = { "a", "test sdfs", "1 2", "1.0 2.0", "+", "-", "=" }

i_add_false

bool i_add_false = has_member_func_invocable_add<TestHasMemberFunction>::value

i_add_true

bool i_add_true = has_member_func_invocable_add<TestHasMemberWithArgFunction>::value

i_update_false

bool i_update_false = has_member_func_invocable_update<TestHasMemberFunction>::value

joint_names

joint_state joint_names = { "joint_1", "joint_2", "joint_3" }

joint_state

tesseract_common::JointState joint_state	(	joint_names	,
		positons
	)

manip_info

manip_info = manip_info.getCombined(manip_info_override)

manip_info_override

tesseract_common::ManipulatorInfo manip_info_override("manipulator", "world", "tool0")	(	"manipulator"	,
		"world"	,
		"tool0"
	)

manipulator_ik_solver

manip_info manipulator_ik_solver = "OPWInvKin"

position

joint_state position = Eigen::VectorXd::Constant(3, 5)

positons

Eigen::VectorXd positons = Eigen::VectorXd::Constant(3, 5)

random_numbers

Eigen::VectorXd random_numbers = tesseract_common::generateRandomNumber(limits)

random_numbers2

Eigen::VectorXd random_numbers2 = tesseract_common::generateRandomNumber(empty_limits)

random_numbers3

Eigen::VectorXd random_numbers3 = tesseract_common::generateRandomNumber(equal_limits)

random_numbers4

Eigen::VectorXd random_numbers4 = tesseract_common::generateRandomNumber(wrong_limits)

s

s = check1

t_add_false

bool t_add_false = has_member_func_return_type_add<TestMissingMemberFunction>::value

t_false

bool t_false = has_member_update<TestMissingMemberFunction>::value

tcp_offset

manip_info_override tcp_offset = Eigen::Isometry3d::Identity() * Eigen::Translation3d(0.0, 0.0, 0.25)

TESSERACT_COMMON_IGNORE_WARNINGS_POP

TESSERACT_COMMON_IGNORE_WARNINGS_PUSH TESSERACT_COMMON_IGNORE_WARNINGS_POP

Initial value:

{
  std::vector<std::string> true_test = { "1",     "1.5",  "-1",     "-1.5",  "1e-5",    "1e5",
                                         "-1e-5", "-1e5", "1.0e-5", "1.0e5", "-1.0e-5", "-1.0e5" }

time

joint_state time = 100

true_test_value

std::vector<double> true_test_value = { 1, 1.5, -1, -1.5, 1e-5, 1e5, -1e-5, -1e5, 1.0e-5, 1.0e5, -1.0e-5, -1.0e5 }

v

v = v.array() + std::numeric_limits<float>::epsilon()

v1

v1["2"] = 1

v2

std::set< int > v2 { "a", "b", "c" }

value

double value = 0

velocity

joint_state velocity = Eigen::VectorXd::Constant(3, 6)

working_frame

manip_info_override working_frame = "base_link"