test_cartesian_planning Namespace Reference

Functions
	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_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)

Function Documentation

test_compute_jacobian_for_chain()

test_cartesian_planning.test_compute_jacobian_for_chain

(

setup_robot

)

Test computing Jacobian for a single tip in a kinematic chain.

test_compute_jacobian_for_chain_dirty_state()

test_cartesian_planning.test_compute_jacobian_for_chain_dirty_state

(

setup_robot

)

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

test_compute_jacobian_for_chain_invalid_group()

test_cartesian_planning.test_compute_jacobian_for_chain_invalid_group

(

setup_robot

)

Test error handling for invalid group name.

test_compute_jacobian_for_chain_invalid_link()

test_cartesian_planning.test_compute_jacobian_for_chain_invalid_link

(

setup_robot

)

Test error handling for invalid link name.

test_compute_jacobian_for_chain_with_offset()

test_cartesian_planning.test_compute_jacobian_for_chain_with_offset

(

setup_robot

)

Test computing Jacobian for a single tip with non-zero offset.

test_compute_multi_tip_jacobian()

test_cartesian_planning.test_compute_multi_tip_jacobian

(

setup_robot

)

Test computing Jacobian for multiple tips.

test_compute_multi_tip_jacobian_invalid_group()

test_cartesian_planning.test_compute_multi_tip_jacobian_invalid_group

(

setup_robot

)

Test error handling for invalid group name in multi-tip computation.

test_compute_multi_tip_jacobian_invalid_link()

test_cartesian_planning.test_compute_multi_tip_jacobian_invalid_link

(

setup_robot

)

Test error handling for invalid link name in multi-tip computation.

test_compute_multi_tip_jacobian_mismatched_sizes()

test_cartesian_planning.test_compute_multi_tip_jacobian_mismatched_sizes

(

setup_robot

)

Test error handling when tip names and offsets have different sizes.

test_compute_multi_tip_jacobian_single_tip()

test_cartesian_planning.test_compute_multi_tip_jacobian_single_tip

(

setup_robot

)

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

test_jacobian_consistency_single_vs_multi()

test_cartesian_planning.test_jacobian_consistency_single_vs_multi

(

setup_robot

)

Test that single-tip Jacobian matches first block of multi-tip Jacobian with same tip.

test_path_ik()

test_cartesian_planning.test_path_ik

(

setup_robot

)

Test basic path IK functionality.

test_path_ik_default_options()

test_cartesian_planning.test_path_ik_default_options

(

setup_robot

)

test_path_ik_empty_path()

test_cartesian_planning.test_path_ik_empty_path

(

setup_robot

)

test_path_ik_multi_tip()

test_cartesian_planning.test_path_ik_multi_tip

(

setup_robot

)

test_path_ik_no_tip()

test_cartesian_planning.test_path_ik_no_tip

(

setup_robot

)

test_path_ik_nonexistent_tip()

test_cartesian_planning.test_path_ik_nonexistent_tip

(

setup_robot

)

test_path_ik_options_methods()

test_cartesian_planning.test_path_ik_options_methods

(

)

test_path_ik_partial_path()

test_cartesian_planning.test_path_ik_partial_path

(

setup_robot

)

test_path_ik_unlicensed()

test_cartesian_planning.test_path_ik_unlicensed	(		setup_robot,
			with_invalid_license,
			license_exception_validator
	)

Test basic path IK functionality.

test_tip_constraint_enum_values()

test_cartesian_planning.test_tip_constraint_enum_values

(

)

test_velocity_inverse_kinematics()

test_cartesian_planning.test_velocity_inverse_kinematics

(

)

test_velocity_inverse_kinematics_nullspace_incorrect_size()

test_cartesian_planning.test_velocity_inverse_kinematics_nullspace_incorrect_size

(

)