moveit_pro_controllers::RobotTestFixture< Controller > Class Template Reference

#include <robot_test_fixture.hpp>

Inheritance diagram for moveit_pro_controllers::RobotTestFixture< Controller >:

Collaboration diagram for moveit_pro_controllers::RobotTestFixture< Controller >:

Public Types
using	ControllerType = Controller

Public Member Functions
	RobotTestFixture (const std::string &controller_name)
void	setUpOnExecutorThread () override
void	setParameters (const std::unordered_map< std::string, rclcpp::Parameter > &parameters)
std::vector< rclcpp::Parameter >	getParameters () const
void	assignInterfaces (int num_tips=1)

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

Member Typedef Documentation

ControllerType

template<class Controller >

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

Constructor & Destructor Documentation

RobotTestFixture()

template<class Controller >

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

inline

Member Function Documentation

assignInterfaces()

template<class Controller >

void moveit_pro_controllers::RobotTestFixture< Controller >::assignInterfaces

(

int

num_tips = 1

)

getParameters()

template<class Controller >

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

(

)

const

setParameters()

template<class Controller >

void moveit_pro_controllers::RobotTestFixture< Controller >::setParameters

(

const std::unordered_map< std::string, rclcpp::Parameter > &

parameters

)

setUpOnExecutorThread()

template<class Controller >

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

override

Member Data Documentation

acceleration_command_interfaces

template<class Controller >

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

acceleration_state_interfaces

template<class Controller >

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

commanded_accelerations

template<class Controller >

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

commanded_positions

template<class Controller >

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

commanded_velocities

template<class Controller >

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

controller

template<class Controller >

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

controller_name

template<class Controller >

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

controller_node

template<class Controller >

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

fts_state_values

template<class Controller >

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

joint_names

template<class Controller >

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

parameter_map

template<class Controller >

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

position_command_interfaces

template<class Controller >

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

position_state_interfaces

template<class Controller >

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

sensed_accelerations

template<class Controller >

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

sensed_positions

template<class Controller >

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

sensed_velocities

template<class Controller >

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

test_node

template<class Controller >

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

velocity_command_interfaces

template<class Controller >

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

velocity_state_interfaces

template<class Controller >

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

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

• robot_test_fixture.hpp