#include <rclcpp/rclcpp.hpp>
#include <gtest/gtest.h>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/robot_state/conversions.h>

Include dependency graph for planning_scene_monitor_test.cpp:

Go to the source code of this file.

Classes
class	PlanningSceneMonitorTest

Macros
#define	TRIGGERS_UPDATE(msg, expected_update_type)

Typedefs
using	UpdateType = planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType

Functions
	TEST_F (PlanningSceneMonitorTest, TestPersistentScene)

	TEST_F (PlanningSceneMonitorTest, UpdateTypes)

int	main (int argc, char **argv)

Macro Definition Documentation

◆ TRIGGERS_UPDATE

#define TRIGGERS_UPDATE	(	msg,
		expected_update_type
	)

Value:

  {                                                                                                                    \
    planning_scene_monitor_->clearUpdateCallbacks();                                                                   \
    auto received_update_type{ UpdateType::UPDATE_NONE };                                                              \
    planning_scene_monitor_->addUpdateCallback([&](auto type) { received_update_type = type; });                       \
    planning_scene_monitor_->newPlanningSceneMessage(msg);                                                             \
    EXPECT_EQ(received_update_type, expected_update_type);                                                             \
  }