RobotTestFixture Class Template

Declaration

template <class Controller>
class moveit_pro_controllers::RobotTestFixture<Controller> { ... }

Included Headers

#include <robot_test_fixture.hpp>

Base class

class	RosExecutorTest

Public Member Typedefs Index

template <class Controller>
using	ControllerType = Controller

Public Constructors Index

template <class Controller>
RobotTestFixture (const std::string &controller_name)

Public Member Functions Index

template <class Controller>
void	setUpOnExecutorThread () override
template <class Controller>
void	setParameters (const std::unordered_map< std::string, rclcpp::Parameter > &parameters)
template <class Controller>
auto	getParameters () const -> std::vector< rclcpp::Parameter >
template <class Controller>
void	assignInterfaces (int num_tips=1)

Public Member Attributes Index

template <class Controller>
rclcpp::Node::SharedPtr	test_node
template <class Controller>
std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	controller_node
template <class Controller>
std::unique_ptr< Controller >	controller
template <class Controller>
std::string	controller_name
template <class Controller>
std::vector< hardware_interface::CommandInterface >	position_command_interfaces
template <class Controller>
std::vector< hardware_interface::CommandInterface >	velocity_command_interfaces
template <class Controller>
std::vector< hardware_interface::CommandInterface >	acceleration_command_interfaces
template <class Controller>
std::vector< std::string >	joint_names = { "joint_a", "joint_b" }
template <class Controller>
Eigen::VectorNd	commanded_positions = Eigen::VectorNd::Zero(joint_names.size())
template <class Controller>
Eigen::VectorNd	commanded_velocities = Eigen::VectorNd::Zero(joint_names.size())
template <class Controller>
Eigen::VectorNd	commanded_accelerations = Eigen::VectorNd::Zero(joint_names.size())
template <class Controller>
std::vector< hardware_interface::StateInterface >	position_state_interfaces
template <class Controller>
std::vector< hardware_interface::StateInterface >	velocity_state_interfaces
template <class Controller>
std::vector< hardware_interface::StateInterface >	acceleration_state_interfaces
template <class Controller>
Eigen::VectorNd	sensed_positions = Eigen::VectorNd::Zero(joint_names.size())
template <class Controller>
Eigen::VectorNd	sensed_velocities = Eigen::VectorNd::Zero(joint_names.size())
template <class Controller>
Eigen::VectorNd	sensed_accelerations = Eigen::VectorNd::Zero(joint_names.size())
template <class Controller>
std::vector< Eigen::Vector6d >	fts_state_values = {}
template <class Controller>
std::unordered_map< std::string, rclcpp::Parameter >	parameter_map

Public Static Functions Index

template <typename ControllerType>
static void	initializeController (const std::unique_ptr< ControllerType > &controller, const std::string &controller_name, const rclcpp::NodeOptions &node_options)

Definition at line 197 of file robot_test_fixture.hpp.

Public Member Typedefs

ControllerType

template <class Controller>

using moveit_pro_controllers::RobotTestFixture< Controller >::ControllerType = Controller

Definition at line 200 of file robot_test_fixture.hpp.

Public Constructors

RobotTestFixture()

template <class Controller>

moveit_pro_controllers::RobotTestFixture< Controller >::RobotTestFixture (const std::string & controller_name)

inline

Definition at line 202 of file robot_test_fixture.hpp.

Public Member Functions

assignInterfaces()

template <class Controller>

void moveit_pro_controllers::RobotTestFixture< Controller >::assignInterfaces (int num_tips=1)

Definition at line 212 of file robot_test_fixture.hpp.

getParameters()

template <class Controller>

std::vector< rclcpp::Parameter > moveit_pro_controllers::RobotTestFixture< Controller >::getParameters ()

Definition at line 209 of file robot_test_fixture.hpp.

setParameters()

template <class Controller>

void moveit_pro_controllers::RobotTestFixture< Controller >::setParameters (const std::unordered_map< std::string, rclcpp::Parameter > & parameters)

Definition at line 208 of file robot_test_fixture.hpp.

setUpOnExecutorThread()

template <class Controller>

void moveit_pro_controllers::RobotTestFixture< Controller >::setUpOnExecutorThread ()

Definition at line 206 of file robot_test_fixture.hpp.

Public Member Attributes

acceleration_command_interfaces

template <class Controller>

std::vector<hardware_interface::CommandInterface> moveit_pro_controllers::RobotTestFixture< Controller >::acceleration_command_interfaces

Definition at line 237 of file robot_test_fixture.hpp.

acceleration_state_interfaces

template <class Controller>

std::vector<hardware_interface::StateInterface> moveit_pro_controllers::RobotTestFixture< Controller >::acceleration_state_interfaces

Definition at line 246 of file robot_test_fixture.hpp.

commanded_accelerations

template <class Controller>

Eigen::VectorNd moveit_pro_controllers::RobotTestFixture< Controller >::commanded_accelerations = Eigen::VectorNd::Zero(joint_names.size())

Definition at line 241 of file robot_test_fixture.hpp.

commanded_positions

template <class Controller>

Eigen::VectorNd moveit_pro_controllers::RobotTestFixture< Controller >::commanded_positions = Eigen::VectorNd::Zero(joint_names.size())

Definition at line 239 of file robot_test_fixture.hpp.

commanded_velocities

template <class Controller>

Eigen::VectorNd moveit_pro_controllers::RobotTestFixture< Controller >::commanded_velocities = Eigen::VectorNd::Zero(joint_names.size())

Definition at line 240 of file robot_test_fixture.hpp.

controller

template <class Controller>

std::unique_ptr<Controller> moveit_pro_controllers::RobotTestFixture< Controller >::controller

Definition at line 231 of file robot_test_fixture.hpp.

controller_name

template <class Controller>

std::string moveit_pro_controllers::RobotTestFixture< Controller >::controller_name

Definition at line 232 of file robot_test_fixture.hpp.

controller_node

template <class Controller>

std::shared_ptr<rclcpp_lifecycle::LifecycleNode> moveit_pro_controllers::RobotTestFixture< Controller >::controller_node

Definition at line 229 of file robot_test_fixture.hpp.

fts_state_values

template <class Controller>

std::vector<Eigen::Vector6d> moveit_pro_controllers::RobotTestFixture< Controller >::fts_state_values = {}

Definition at line 252 of file robot_test_fixture.hpp.

joint_names

template <class Controller>

std::vector<std::string> moveit_pro_controllers::RobotTestFixture< Controller >::joint_names = { "joint_a", "joint_b" }

Definition at line 238 of file robot_test_fixture.hpp.

parameter_map

template <class Controller>

std::unordered_map<std::string, rclcpp::Parameter> moveit_pro_controllers::RobotTestFixture< Controller >::parameter_map

Definition at line 255 of file robot_test_fixture.hpp.

position_command_interfaces

template <class Controller>

std::vector<hardware_interface::CommandInterface> moveit_pro_controllers::RobotTestFixture< Controller >::position_command_interfaces

Definition at line 235 of file robot_test_fixture.hpp.

position_state_interfaces

template <class Controller>

std::vector<hardware_interface::StateInterface> moveit_pro_controllers::RobotTestFixture< Controller >::position_state_interfaces

Definition at line 244 of file robot_test_fixture.hpp.

sensed_accelerations

template <class Controller>

Eigen::VectorNd moveit_pro_controllers::RobotTestFixture< Controller >::sensed_accelerations = Eigen::VectorNd::Zero(joint_names.size())

Definition at line 249 of file robot_test_fixture.hpp.

sensed_positions

template <class Controller>

Eigen::VectorNd moveit_pro_controllers::RobotTestFixture< Controller >::sensed_positions = Eigen::VectorNd::Zero(joint_names.size())

Definition at line 247 of file robot_test_fixture.hpp.

sensed_velocities

template <class Controller>

Eigen::VectorNd moveit_pro_controllers::RobotTestFixture< Controller >::sensed_velocities = Eigen::VectorNd::Zero(joint_names.size())

Definition at line 248 of file robot_test_fixture.hpp.

test_node

template <class Controller>

rclcpp::Node::SharedPtr moveit_pro_controllers::RobotTestFixture< Controller >::test_node

Definition at line 228 of file robot_test_fixture.hpp.

velocity_command_interfaces

template <class Controller>

std::vector<hardware_interface::CommandInterface> moveit_pro_controllers::RobotTestFixture< Controller >::velocity_command_interfaces

Definition at line 236 of file robot_test_fixture.hpp.

velocity_state_interfaces

template <class Controller>

std::vector<hardware_interface::StateInterface> moveit_pro_controllers::RobotTestFixture< Controller >::velocity_state_interfaces

Definition at line 245 of file robot_test_fixture.hpp.

Public Static Functions

initializeController()

template <typename ControllerType>

void moveit_pro_controllers::RobotTestFixture< Controller >::initializeController (const std::unique_ptr< ControllerType > & controller, const std::string & controller_name, const rclcpp::NodeOptions & node_options)

inline static

Definition at line 216 of file robot_test_fixture.hpp.

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The documentation for this class was generated from the following file:

• robot_test_fixture.hpp

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