#include <RobotComponents/Test.h>#include <RobotAPI/libraries/core/Pose.h>#include <RobotAPI/libraries/core/FramedPose.h>#include "../KinematicSolver.h"#include <VirtualRobot/XML/RobotIO.h>#include "../Util/OrientationConversion.h"#include "../Interpolation/LinearInterpolation.h"#include "../Interpolation/InterpolationSegmentFactory.h"#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
Include dependency graph for KinematicSolverTest.cpp:Go to the source code of this file.
Classes | |
| struct | PosePkg |
| The PosePkg struct - Testing utility. More... | |
Macros | |
| #define | ARMARX_BOOST_TEST |
| #define | BOOST_TEST_MODULE ArmarX::RobotTrajectoryDesigner::KinematicSolver |
Functions | |
| BOOST_AUTO_TEST_CASE (backAndForthTest) | |
| Tests whether the calculated Joint Angles are really there to reach the desired Pose and not a totally different Pose; furhermore tests whether doForwardKinematic is really the inverse function of the IKSolving functions. More... | |
| BOOST_AUTO_TEST_CASE (collisionStart) | |
| Tests recursive IK method in "realistic setting - e.g. More... | |
| BOOST_AUTO_TEST_CASE (CollisonMid) | |
| Tests recursive IK method in "realistic setting - e.g. More... | |
| BOOST_AUTO_TEST_CASE (NoMovement) | |
| No Movement. More... | |
| BOOST_AUTO_TEST_CASE (pleaseWorkTest) | |
| Tests basic functionality of Kineamtic Solver. More... | |
| BOOST_AUTO_TEST_CASE (recursiveIKLinear) | |
| Tests recursive IK method in "realistic setting - e.g. More... | |
| BOOST_AUTO_TEST_CASE (recursiveIKThreeCP) | |
| Tests recursive IK method in "realistic setting - e.g. More... | |
| BOOST_AUTO_TEST_CASE (recursiveIKThreeCPWithRotation) | |
| Tests recursive IK method in "realistic setting - e.g. More... | |
| BOOST_AUTO_TEST_CASE (singletonTest) | |
| Tests whether the KinematicSolver is really a singleton so there is no Problem instantiating the instance. More... | |
| BOOST_AUTO_TEST_CASE (UnreachableEnd) | |
| Tests recursive IK method in "realistic setting - e.g. More... | |
| BOOST_AUTO_TEST_CASE (unreachableMid) | |
| Tests recursive IK method in "realistic setting - e.g. More... | |
| BOOST_AUTO_TEST_CASE (unreachableStart) | |
| Tests recursive IK method in "realistic setting - e.g. More... | |
| PosePkg | createPosePkg (float x, float y, float z, float qw, float qx, float qy, float qz) |
| bool | isEqualRounded (PoseBasePtr current, PoseBasePtr other, double delta) |
Macro Definition Documentation
◆ ARMARX_BOOST_TEST
| #define ARMARX_BOOST_TEST |
Definition at line 2 of file KinematicSolverTest.cpp.
◆ BOOST_TEST_MODULE
| #define BOOST_TEST_MODULE ArmarX::RobotTrajectoryDesigner::KinematicSolver |
Definition at line 1 of file KinematicSolverTest.cpp.
Function Documentation
◆ BOOST_AUTO_TEST_CASE() [1/12]
| BOOST_AUTO_TEST_CASE | ( | backAndForthTest | ) |
Tests whether the calculated Joint Angles are really there to reach the desired Pose and not a totally different Pose; furhermore tests whether doForwardKinematic is really the inverse function of the IKSolving functions.
Definition at line 129 of file KinematicSolverTest.cpp.
Here is the call graph for this function:◆ BOOST_AUTO_TEST_CASE() [2/12]
| BOOST_AUTO_TEST_CASE | ( | collisionStart | ) |
Tests recursive IK method in "realistic setting - e.g.
for calclating the Pose necessarry for spline interpolation.
Definition at line 791 of file KinematicSolverTest.cpp.
Here is the call graph for this function:◆ BOOST_AUTO_TEST_CASE() [3/12]
| BOOST_AUTO_TEST_CASE | ( | CollisonMid | ) |
Tests recursive IK method in "realistic setting - e.g.
for calclating the Pose necessarry for spline interpolation.
Definition at line 872 of file KinematicSolverTest.cpp.
Here is the call graph for this function:◆ BOOST_AUTO_TEST_CASE() [4/12]
| BOOST_AUTO_TEST_CASE | ( | NoMovement | ) |
No Movement.
Tests recursive IK method in "realistic setting - e.g. for calclating the Pose necessarry for spline interpolation.
Definition at line 923 of file KinematicSolverTest.cpp.
Here is the call graph for this function:◆ BOOST_AUTO_TEST_CASE() [5/12]
| BOOST_AUTO_TEST_CASE | ( | pleaseWorkTest | ) |
Tests basic functionality of Kineamtic Solver.
Definition at line 85 of file KinematicSolverTest.cpp.
Here is the call graph for this function:◆ BOOST_AUTO_TEST_CASE() [6/12]
| BOOST_AUTO_TEST_CASE | ( | recursiveIKLinear | ) |
Tests recursive IK method in "realistic setting - e.g.
for calclating the Pose necessarry for linear interpolation.
Definition at line 168 of file KinematicSolverTest.cpp.
Here is the call graph for this function:◆ BOOST_AUTO_TEST_CASE() [7/12]
| BOOST_AUTO_TEST_CASE | ( | recursiveIKThreeCP | ) |
Tests recursive IK method in "realistic setting - e.g.
for calclating the Pose necessarry for spline interpolation.
Definition at line 294 of file KinematicSolverTest.cpp.
Here is the call graph for this function:◆ BOOST_AUTO_TEST_CASE() [8/12]
| BOOST_AUTO_TEST_CASE | ( | recursiveIKThreeCPWithRotation | ) |
Tests recursive IK method in "realistic setting - e.g.
for calclating the Pose necessarry for spline interpolation.
Definition at line 410 of file KinematicSolverTest.cpp.
Here is the call graph for this function:◆ BOOST_AUTO_TEST_CASE() [9/12]
| BOOST_AUTO_TEST_CASE | ( | singletonTest | ) |
Tests whether the KinematicSolver is really a singleton so there is no Problem instantiating the instance.
Definition at line 103 of file KinematicSolverTest.cpp.
Here is the call graph for this function:◆ BOOST_AUTO_TEST_CASE() [10/12]
| BOOST_AUTO_TEST_CASE | ( | UnreachableEnd | ) |
Tests recursive IK method in "realistic setting - e.g.
for calclating the Pose necessarry for spline interpolation.
Definition at line 602 of file KinematicSolverTest.cpp.
Here is the call graph for this function:◆ BOOST_AUTO_TEST_CASE() [11/12]
| BOOST_AUTO_TEST_CASE | ( | unreachableMid | ) |
Tests recursive IK method in "realistic setting - e.g.
for calclating the Pose necessarry for spline interpolation. Tests recursive IK method in "realistic setting - e.g. for calclating the Pose necessarry for spline interpolation.
Definition at line 717 of file KinematicSolverTest.cpp.
Here is the call graph for this function:◆ BOOST_AUTO_TEST_CASE() [12/12]
| BOOST_AUTO_TEST_CASE | ( | unreachableStart | ) |
Tests recursive IK method in "realistic setting - e.g.
for calclating the Pose necessarry for spline interpolation.
Definition at line 506 of file KinematicSolverTest.cpp.
Here is the call graph for this function:◆ createPosePkg()
◆ isEqualRounded()
| bool isEqualRounded | ( | PoseBasePtr | current, |
| PoseBasePtr | other, | ||
| double | delta | ||
| ) |
Definition at line 50 of file KinematicSolverTest.cpp.
