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TestPathIK Class

Declaration​

class test_mtc_path_ik::TestPathIK { ... }

Public Member Functions Index​

test_construction_default_name (self)
test_construction_with_custom_name (self)
test_set_group (self)
test_set_tip_links_single (self)
test_set_tip_links_multiple (self)
test_set_tip_links_empty_list (self)
test_set_path_empty (self)
test_set_path_single_pose (self)
test_set_path_multiple_poses (self)
test_set_position_only_true (self)
test_set_position_only_false (self)
test_set_blending_radius_zero (self)
test_set_blending_radius_positive (self)
test_set_blending_radius_larger_value (self)
test_set_ignore_environment_collisions_true (self)
test_set_ignore_environment_collisions_false (self)
test_set_pad_self_collisions (self)
test_set_tip_offset_identity (self)
test_set_tip_offset_translation (self)
test_set_tip_offset_rotation (self)
test_set_path_density_default_values (self)
test_set_path_density_high_density (self)
test_set_path_density_low_density (self)
test_set_trajectory_parameters_default_values (self)
test_set_trajectory_parameters_conservative (self)
test_set_trajectory_parameters_aggressive (self)
test_set_max_optimization_iterations_default (self)
test_set_max_optimization_iterations_low (self)
test_set_max_optimization_iterations_high (self)
test_set_max_allowed_path_deviation (self)
test_set_goal_tolerance (self)
test_set_jacobian_inverse_damping (self)
test_chained_method_calls (self)
test_multiple_stages_independent (self)
test_comprehensive_configuration (self)
test_inheritance_from_propagating_forward (self)
test_parameter_type_validation (self)
test_boundary_values (self)
test_default_construction_behavior (self)
test_set_nullspace_override_function (self)

Description​

Test suite for the PathIK MTC stage.

Definition at line 13 of file test_mtc_path_ik.py.

Public Member Functions​

test_boundary_values()​

test_mtc_path_ik.TestPathIK.test_boundary_values (self self)
Test boundary and edge case values.

Definition at line 344 of file test_mtc_path_ik.py.

test_chained_method_calls()​

test_mtc_path_ik.TestPathIK.test_chained_method_calls (self self)
Test that multiple setter methods can be called in sequence.

Definition at line 204 of file test_mtc_path_ik.py.

test_comprehensive_configuration()​

test_mtc_path_ik.TestPathIK.test_comprehensive_configuration (self self)
Test comprehensive configuration of all PathIK parameters.

Definition at line 255 of file test_mtc_path_ik.py.

test_construction_default_name()​

test_mtc_path_ik.TestPathIK.test_construction_default_name (self self)
Test PathIK construction with default name.

Definition at line 16 of file test_mtc_path_ik.py.

test_construction_with_custom_name()​

test_mtc_path_ik.TestPathIK.test_construction_with_custom_name (self self)
Test PathIK construction with custom name.

Definition at line 21 of file test_mtc_path_ik.py.

test_default_construction_behavior()​

test_mtc_path_ik.TestPathIK.test_default_construction_behavior (self self)
Test behavior with default construction.

Definition at line 366 of file test_mtc_path_ik.py.

test_inheritance_from_propagating_forward()​

test_mtc_path_ik.TestPathIK.test_inheritance_from_propagating_forward (self self)
Test that PathIK properly inherits from PropagatingForward.

Definition at line 297 of file test_mtc_path_ik.py.

test_multiple_stages_independent()​

test_mtc_path_ik.TestPathIK.test_multiple_stages_independent (self self)
Test that multiple PathIK stage instances are independent.

Definition at line 238 of file test_mtc_path_ik.py.

test_parameter_type_validation()​

test_mtc_path_ik.TestPathIK.test_parameter_type_validation (self self)
Test that parameters accept appropriate types.

Definition at line 319 of file test_mtc_path_ik.py.

test_set_blending_radius_larger_value()​

test_mtc_path_ik.TestPathIK.test_set_blending_radius_larger_value (self self)
Test setting larger blending radius.

Definition at line 97 of file test_mtc_path_ik.py.

test_set_blending_radius_positive()​

test_mtc_path_ik.TestPathIK.test_set_blending_radius_positive (self self)
Test setting positive blending radius.

Definition at line 92 of file test_mtc_path_ik.py.

test_set_blending_radius_zero()​

test_mtc_path_ik.TestPathIK.test_set_blending_radius_zero (self self)
Test setting zero blending radius.

Definition at line 87 of file test_mtc_path_ik.py.

test_set_goal_tolerance()​

test_mtc_path_ik.TestPathIK.test_set_goal_tolerance (self self)
Test setting the goal tolerance for the final path waypoint.

Definition at line 194 of file test_mtc_path_ik.py.

test_set_group()​

test_mtc_path_ik.TestPathIK.test_set_group (self self)
Test setting the planning group.

Definition at line 26 of file test_mtc_path_ik.py.

test_set_ignore_environment_collisions_false()​

test_mtc_path_ik.TestPathIK.test_set_ignore_environment_collisions_false (self self)
Test disabling ignore environment collisions.

Definition at line 107 of file test_mtc_path_ik.py.

test_set_ignore_environment_collisions_true()​

test_mtc_path_ik.TestPathIK.test_set_ignore_environment_collisions_true (self self)
Test enabling ignore environment collisions.

Definition at line 102 of file test_mtc_path_ik.py.

test_set_jacobian_inverse_damping()​

test_mtc_path_ik.TestPathIK.test_set_jacobian_inverse_damping (self self)
Test setting the Jacobian inverse damping factor.

Definition at line 199 of file test_mtc_path_ik.py.

test_set_max_allowed_path_deviation()​

test_mtc_path_ik.TestPathIK.test_set_max_allowed_path_deviation (self self)
Test setting loose path deviation tolerance.

Definition at line 189 of file test_mtc_path_ik.py.

test_set_max_optimization_iterations_default()​

test_mtc_path_ik.TestPathIK.test_set_max_optimization_iterations_default (self self)
Test setting default-like optimization iterations.

Definition at line 174 of file test_mtc_path_ik.py.

test_set_max_optimization_iterations_high()​

test_mtc_path_ik.TestPathIK.test_set_max_optimization_iterations_high (self self)
Test setting high optimization iterations.

Definition at line 184 of file test_mtc_path_ik.py.

test_set_max_optimization_iterations_low()​

test_mtc_path_ik.TestPathIK.test_set_max_optimization_iterations_low (self self)
Test setting low optimization iterations.

Definition at line 179 of file test_mtc_path_ik.py.

test_set_nullspace_override_function()​

test_mtc_path_ik.TestPathIK.test_set_nullspace_override_function (self self)
Test setting a nullspace override function.

Definition at line 380 of file test_mtc_path_ik.py.

test_set_pad_self_collisions()​

test_mtc_path_ik.TestPathIK.test_set_pad_self_collisions (self self)
The setter accepts both states; test_mtc_path_ik_stage.cpp covers what the flag does.

Definition at line 112 of file test_mtc_path_ik.py.

test_set_path_density_default_values()​

test_mtc_path_ik.TestPathIK.test_set_path_density_default_values (self self)
Test setting path density with default-like values.

Definition at line 144 of file test_mtc_path_ik.py.

test_set_path_density_high_density()​

test_mtc_path_ik.TestPathIK.test_set_path_density_high_density (self self)
Test setting high path density.

Definition at line 149 of file test_mtc_path_ik.py.

test_set_path_density_low_density()​

test_mtc_path_ik.TestPathIK.test_set_path_density_low_density (self self)
Test setting low path density.

Definition at line 154 of file test_mtc_path_ik.py.

test_set_path_empty()​

test_mtc_path_ik.TestPathIK.test_set_path_empty (self self)
Test setting empty path.

Definition at line 47 of file test_mtc_path_ik.py.

test_set_path_multiple_poses()​

test_mtc_path_ik.TestPathIK.test_set_path_multiple_poses (self self)
Test setting path with multiple poses.

Definition at line 63 of file test_mtc_path_ik.py.

test_set_path_single_pose()​

test_mtc_path_ik.TestPathIK.test_set_path_single_pose (self self)
Test setting path with single pose.

Definition at line 52 of file test_mtc_path_ik.py.

test_set_position_only_false()​

test_mtc_path_ik.TestPathIK.test_set_position_only_false (self self)
Test disabling position-only mode (use position and orientation).

Definition at line 82 of file test_mtc_path_ik.py.

test_set_position_only_true()​

test_mtc_path_ik.TestPathIK.test_set_position_only_true (self self)
Test enabling position-only mode.

Definition at line 77 of file test_mtc_path_ik.py.

test_set_tip_links_empty_list()​

test_mtc_path_ik.TestPathIK.test_set_tip_links_empty_list (self self)
Test setting empty tip links list.

Definition at line 42 of file test_mtc_path_ik.py.

test_set_tip_links_multiple()​

test_mtc_path_ik.TestPathIK.test_set_tip_links_multiple (self self)
Test setting multiple tip links.

Definition at line 37 of file test_mtc_path_ik.py.

test_set_tip_links_single()​

test_mtc_path_ik.TestPathIK.test_set_tip_links_single (self self)
Test setting a single tip link.

Definition at line 32 of file test_mtc_path_ik.py.

test_set_tip_offset_identity()​

test_mtc_path_ik.TestPathIK.test_set_tip_offset_identity (self self)
Test setting identity tip offset.

Definition at line 118 of file test_mtc_path_ik.py.

test_set_tip_offset_rotation()​

test_mtc_path_ik.TestPathIK.test_set_tip_offset_rotation (self self)
Test setting tip offset with rotation.

Definition at line 133 of file test_mtc_path_ik.py.

test_set_tip_offset_translation()​

test_mtc_path_ik.TestPathIK.test_set_tip_offset_translation (self self)
Test setting tip offset with translation.

Definition at line 124 of file test_mtc_path_ik.py.

test_set_trajectory_parameters_aggressive()​

test_mtc_path_ik.TestPathIK.test_set_trajectory_parameters_aggressive (self self)
Test setting aggressive trajectory parameters.

Definition at line 169 of file test_mtc_path_ik.py.

test_set_trajectory_parameters_conservative()​

test_mtc_path_ik.TestPathIK.test_set_trajectory_parameters_conservative (self self)
Test setting conservative trajectory parameters.

Definition at line 164 of file test_mtc_path_ik.py.

test_set_trajectory_parameters_default_values()​

test_mtc_path_ik.TestPathIK.test_set_trajectory_parameters_default_values (self self)
Test setting trajectory parameters with reasonable values.

Definition at line 159 of file test_mtc_path_ik.py.

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

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