#include <memory>
#include <gtest/gtest.h>
#include <pilz_industrial_motion_planner/pilz_industrial_motion_planner.h>
#include <pilz_industrial_motion_planner/planning_context_loader_ptp.h>
#include <pilz_industrial_motion_planner/planning_exceptions.h>

Include dependency graph for unittest_pilz_industrial_motion_planner_direct.cpp:

Functions
	TEST (CommandPlannerTestDirect, ExceptionCoverage)

	TEST (CommandPlannerTestDirect, CheckDoubleLoadingException)
	Check that a exception is thrown if a already loaded PlanningContextLoader is loaded. More...

	TEST (CommandPlannerTestDirect, FailOnLoadContext)
	Check that getPlanningContext() fails if the underlying ContextLoader fails to load the context. More...

int	main (int argc, char **argv)

Function Documentation

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 118 of file unittest_pilz_industrial_motion_planner_direct.cpp.

◆ TEST() [1/3]

TEST	(	CommandPlannerTestDirect	,
		CheckDoubleLoadingException
	)

Check that a exception is thrown if a already loaded PlanningContextLoader is loaded.

This test uses pilz_industrial_motion_planner::CommandPlanner directly and is thus separated from unittest_pilz_industrial_motion_planner.cpp since plugin loading via pluginlib does not allow loading of classes already defined.

It this point the planning_instance_ has loaded ptp, lin, circ. A additional ptp is loaded which should throw the respective exception.

Registered a found loader

Definition at line 67 of file unittest_pilz_industrial_motion_planner_direct.cpp.

Here is the call graph for this function:

◆ TEST() [2/3]

TEST	(	CommandPlannerTestDirect	,
		ExceptionCoverage
	)

Definition at line 45 of file unittest_pilz_industrial_motion_planner_direct.cpp.

◆ TEST() [3/3]

TEST	(	CommandPlannerTestDirect	,
		FailOnLoadContext
	)

Check that getPlanningContext() fails if the underlying ContextLoader fails to load the context.