Skip to main content

test_path_ik Namespace

Definition​

namespace test_path_ik { ... }

Functions Index​

test_path_ik (setup_robot)
test_path_ik_unlicensed (setup_robot, with_invalid_license, license_exception_validator)
test_path_ik_partial_path (setup_robot)
test_path_ik_goal_tolerance_not_met (setup_robot)
test_path_ik_default_options (setup_robot)
test_path_ik_multi_tip (setup_robot)
test_path_ik_no_tip (setup_robot)
test_path_ik_nonexistent_tip (setup_robot)
test_path_ik_empty_path (setup_robot)
test_path_ik_options_methods ()
test_tip_constraint_enum_values ()
test_velocity_inverse_kinematics ()
test_velocity_inverse_kinematics_nullspace_incorrect_size ()
test_compute_jacobian_for_chain (setup_robot)
test_compute_jacobian_for_chain_with_offset (setup_robot)
test_compute_jacobian_for_chain_invalid_link (setup_robot)
test_compute_jacobian_for_chain_invalid_group (setup_robot)
test_compute_jacobian_for_chain_dirty_state (setup_robot)
test_compute_multi_tip_jacobian (setup_robot)
test_compute_multi_tip_jacobian_single_tip (setup_robot)
test_compute_multi_tip_jacobian_mismatched_sizes (setup_robot)
test_compute_multi_tip_jacobian_invalid_link (setup_robot)
test_compute_multi_tip_jacobian_invalid_group (setup_robot)
test_jacobian_consistency_single_vs_multi (setup_robot)
test_nullspace_override_function (setup_robot)

Functions​

test_compute_jacobian_for_chain()​

test_path_ik.test_compute_jacobian_for_chain (setup_robot setup_robot)
Test computing Jacobian for a single tip in a kinematic chain.

Definition at line 242 of file test_path_ik.py.

test_compute_jacobian_for_chain_dirty_state()​

test_path_ik.test_compute_jacobian_for_chain_dirty_state (setup_robot setup_robot)
Test error handling when robot state is dirty (not updated).

Definition at line 334 of file test_path_ik.py.

test_compute_jacobian_for_chain_invalid_group()​

test_path_ik.test_compute_jacobian_for_chain_invalid_group (setup_robot setup_robot)
Test error handling for invalid group name.

Definition at line 319 of file test_path_ik.py.

test_compute_jacobian_for_chain_invalid_link()​

test_path_ik.test_compute_jacobian_for_chain_invalid_link (setup_robot setup_robot)
Test error handling for invalid link name.

Definition at line 304 of file test_path_ik.py.

test_compute_jacobian_for_chain_with_offset()​

test_path_ik.test_compute_jacobian_for_chain_with_offset (setup_robot setup_robot)
Test computing Jacobian for a single tip with non-zero offset.

Definition at line 274 of file test_path_ik.py.

test_compute_multi_tip_jacobian()​

test_path_ik.test_compute_multi_tip_jacobian (setup_robot setup_robot)
Test computing Jacobian for multiple tips.

Definition at line 351 of file test_path_ik.py.

test_compute_multi_tip_jacobian_invalid_group()​

test_path_ik.test_compute_multi_tip_jacobian_invalid_group (setup_robot setup_robot)
Test error handling for invalid group name in multi-tip computation.

Definition at line 450 of file test_path_ik.py.

test_compute_multi_tip_jacobian_invalid_link()​

test_path_ik.test_compute_multi_tip_jacobian_invalid_link (setup_robot setup_robot)
Test error handling for invalid link name in multi-tip computation.

Definition at line 430 of file test_path_ik.py.

test_compute_multi_tip_jacobian_mismatched_sizes()​

test_path_ik.test_compute_multi_tip_jacobian_mismatched_sizes (setup_robot setup_robot)
Test error handling when tip names and offsets have different sizes.

Definition at line 413 of file test_path_ik.py.

test_compute_multi_tip_jacobian_single_tip()​

test_path_ik.test_compute_multi_tip_jacobian_single_tip (setup_robot setup_robot)
Test multi-tip Jacobian with a single tip (should work like single-tip version).

Definition at line 383 of file test_path_ik.py.

test_jacobian_consistency_single_vs_multi()​

test_path_ik.test_jacobian_consistency_single_vs_multi (setup_robot setup_robot)
Test that single-tip Jacobian matches first block of multi-tip Jacobian with same tip.

Definition at line 466 of file test_path_ik.py.

test_nullspace_override_function()​

test_path_ik.test_nullspace_override_function (setup_robot setup_robot)
Test that custom nullspace override function is called and can be used.

Definition at line 493 of file test_path_ik.py.

test_path_ik()​

test_path_ik.test_path_ik (setup_robot setup_robot)
Test basic path IK functionality.

Definition at line 14 of file test_path_ik.py.

test_path_ik_default_options()​

test_path_ik.test_path_ik_default_options (setup_robot setup_robot)

Definition at line 127 of file test_path_ik.py.

test_path_ik_empty_path()​

test_path_ik.test_path_ik_empty_path (setup_robot setup_robot)

Definition at line 170 of file test_path_ik.py.

test_path_ik_goal_tolerance_not_met()​

test_path_ik.test_path_ik_goal_tolerance_not_met (setup_robot setup_robot)
A goal beyond the robot's reach fails the goal tolerance check with a descriptive error.

Definition at line 96 of file test_path_ik.py.

test_path_ik_multi_tip()​

test_path_ik.test_path_ik_multi_tip (setup_robot setup_robot)

Definition at line 137 of file test_path_ik.py.

test_path_ik_no_tip()​

test_path_ik.test_path_ik_no_tip (setup_robot setup_robot)

Definition at line 149 of file test_path_ik.py.

test_path_ik_nonexistent_tip()​

test_path_ik.test_path_ik_nonexistent_tip (setup_robot setup_robot)

Definition at line 156 of file test_path_ik.py.

test_path_ik_options_methods()​

test_path_ik.test_path_ik_options_methods ()

Definition at line 182 of file test_path_ik.py.

test_path_ik_partial_path()​

test_path_ik.test_path_ik_partial_path (setup_robot setup_robot)

Definition at line 59 of file test_path_ik.py.

test_path_ik_unlicensed()​

test_path_ik.test_path_ik_unlicensed (setup_robot setup_robot, with_invalid_license with_invalid_license, license_exception_validator license_exception_validator)
Test basic path IK functionality.

Definition at line 35 of file test_path_ik.py.

test_tip_constraint_enum_values()​

test_path_ik.test_tip_constraint_enum_values ()

Definition at line 211 of file test_path_ik.py.

test_velocity_inverse_kinematics()​

test_path_ik.test_velocity_inverse_kinematics ()

Definition at line 218 of file test_path_ik.py.

test_velocity_inverse_kinematics_nullspace_incorrect_size()​

test_path_ik.test_velocity_inverse_kinematics_nullspace_incorrect_size ()

Definition at line 232 of file test_path_ik.py.

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

Generated via doxygen2docusaurus 2.2.2 by Doxygen 1.9.8.