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test_pro_rrt Namespace

Definition​

namespace test_pro_rrt { ... }

Functions Index​

test_plan_trajectory_to_joint_goal (setup_robot)
test_plan_trajectory_to_joint_goal_unlicensed (setup_robot, with_invalid_license, license_exception_validator)
test_plan_trajectory_to_joint_goal_named_params (setup_robot)
test_plan_trajectory_to_joint_goal_nonexistent_group (setup_robot)
test_plan_trajectory_to_joint_goal_collision (setup_robot)
test_rrt_params ()
test_trajectory_params ()
test_planar_rotation_constraint (setup_robot)
test_joint_range_constraint ()
test_constraints (setup_robot)
test_plan_trajectory_with_constraints (setup_robot)
test_plan_trajectory_with_custom_params (setup_robot)
test_plan_with_multi_seed_and_optimization (setup_robot)
test_planning_error_exception ()
test_plan_path_to_joint_goal (setup_robot)
test_plan_path_to_joint_goal_unlicensed (setup_robot, with_invalid_license, license_exception_validator)
test_plan_path_to_joint_goal_with_named_params (setup_robot)
test_plan_path_to_joint_goal_nonexistent_group (setup_robot)
test_plan_path_to_joint_goal_collision (setup_robot)
test_plan_path_to_joint_goal_with_constraints (setup_robot)
test_plan_path_to_joint_goal_with_custom_rrt_params (setup_robot)
test_plan_path_to_joint_goal_path_continuity (setup_robot)
test_plan_path_to_joint_goal_different_start_end (setup_robot)
test_plan_path_to_joint_goal_input_validation (setup_robot)

Functions​

test_constraints()​

test_pro_rrt.test_constraints (setup_robot setup_robot)
Test Constraints class and its properties.

Definition at line 183 of file test_pro_rrt.py.

test_joint_range_constraint()​

test_pro_rrt.test_joint_range_constraint ()
Test JointRangeConstraint class and its properties.

Definition at line 164 of file test_pro_rrt.py.

test_plan_path_to_joint_goal()​

test_pro_rrt.test_plan_path_to_joint_goal (setup_robot setup_robot)
Test basic functionality of plan_path_to_joint_goal.

Definition at line 333 of file test_pro_rrt.py.

test_plan_path_to_joint_goal_collision()​

test_pro_rrt.test_plan_path_to_joint_goal_collision (setup_robot setup_robot)
Test that plan_path_to_joint_goal raises exception for impossible paths.

Definition at line 416 of file test_pro_rrt.py.

test_plan_path_to_joint_goal_different_start_end()​

test_pro_rrt.test_plan_path_to_joint_goal_different_start_end (setup_robot setup_robot)
Test plan_path_to_joint_goal with various start and end configurations.

Definition at line 536 of file test_pro_rrt.py.

test_plan_path_to_joint_goal_input_validation()​

test_pro_rrt.test_plan_path_to_joint_goal_input_validation (setup_robot setup_robot)
Test that plan_path_to_joint_goal validates input dimensions.

Definition at line 566 of file test_pro_rrt.py.

test_plan_path_to_joint_goal_nonexistent_group()​

test_pro_rrt.test_plan_path_to_joint_goal_nonexistent_group (setup_robot setup_robot)
Test that plan_path_to_joint_goal raises error for nonexistent group.

Definition at line 404 of file test_pro_rrt.py.

test_plan_path_to_joint_goal_path_continuity()​

test_pro_rrt.test_plan_path_to_joint_goal_path_continuity (setup_robot setup_robot)
Test that the planned path has reasonable continuity between waypoints.

Definition at line 519 of file test_pro_rrt.py.

test_plan_path_to_joint_goal_unlicensed()​

test_pro_rrt.test_plan_path_to_joint_goal_unlicensed (setup_robot setup_robot, with_invalid_license with_invalid_license, license_exception_validator license_exception_validator)

Definition at line 357 of file test_pro_rrt.py.

test_plan_path_to_joint_goal_with_constraints()​

test_pro_rrt.test_plan_path_to_joint_goal_with_constraints (setup_robot setup_robot)
Test plan_path_to_joint_goal with various constraints.

Definition at line 426 of file test_pro_rrt.py.

test_plan_path_to_joint_goal_with_custom_rrt_params()​

test_pro_rrt.test_plan_path_to_joint_goal_with_custom_rrt_params (setup_robot setup_robot)
Test plan_path_to_joint_goal with custom RRT parameters.

Definition at line 485 of file test_pro_rrt.py.

test_plan_path_to_joint_goal_with_named_params()​

test_pro_rrt.test_plan_path_to_joint_goal_with_named_params (setup_robot setup_robot)
Test plan_path_to_joint_goal with explicitly named parameters.

Definition at line 368 of file test_pro_rrt.py.

test_plan_trajectory_to_joint_goal()​

test_pro_rrt.test_plan_trajectory_to_joint_goal (setup_robot setup_robot)

Definition at line 15 of file test_pro_rrt.py.

test_plan_trajectory_to_joint_goal_collision()​

test_pro_rrt.test_plan_trajectory_to_joint_goal_collision (setup_robot setup_robot)

Definition at line 67 of file test_pro_rrt.py.

test_plan_trajectory_to_joint_goal_named_params()​

test_pro_rrt.test_plan_trajectory_to_joint_goal_named_params (setup_robot setup_robot)

Definition at line 38 of file test_pro_rrt.py.

test_plan_trajectory_to_joint_goal_nonexistent_group()​

test_pro_rrt.test_plan_trajectory_to_joint_goal_nonexistent_group (setup_robot setup_robot)

Definition at line 57 of file test_pro_rrt.py.

test_plan_trajectory_to_joint_goal_unlicensed()​

test_pro_rrt.test_plan_trajectory_to_joint_goal_unlicensed (setup_robot setup_robot, with_invalid_license with_invalid_license, license_exception_validator license_exception_validator)

Definition at line 25 of file test_pro_rrt.py.

test_plan_trajectory_with_constraints()​

test_pro_rrt.test_plan_trajectory_with_constraints (setup_robot setup_robot)
Test planning with various constraints.

Definition at line 216 of file test_pro_rrt.py.

test_plan_trajectory_with_custom_params()​

test_pro_rrt.test_plan_trajectory_with_custom_params (setup_robot setup_robot)
Test planning with custom RRT and trajectory parameters.

Definition at line 261 of file test_pro_rrt.py.

test_plan_with_multi_seed_and_optimization()​

test_pro_rrt.test_plan_with_multi_seed_and_optimization (setup_robot setup_robot)
Exercise seed_attempts > 1 and optimization_iterations > 0 end-to-end.

Pins that both new RRTParams fields are wired through the Python API to the
planner and that planning still succeeds when they are non-default.

Definition at line 295 of file test_pro_rrt.py.

test_planar_rotation_constraint()​

test_pro_rrt.test_planar_rotation_constraint (setup_robot setup_robot)
Test PlanarRotationConstraint class and its properties.

Definition at line 131 of file test_pro_rrt.py.

test_planning_error_exception()​

test_pro_rrt.test_planning_error_exception ()
Test that PlanningErrorException is properly exposed.

Definition at line 323 of file test_pro_rrt.py.

test_rrt_params()​

test_pro_rrt.test_rrt_params ()
Test RRTParams class and its properties.

Definition at line 77 of file test_pro_rrt.py.

test_trajectory_params()​

test_pro_rrt.test_trajectory_params ()
Test TrajectoryParams class and its properties.

Definition at line 112 of file test_pro_rrt.py.

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