moveit2
The MoveIt Motion Planning Framework for ROS 2.
Functions
unittest_pilz_industrial_motion_planner_direct.cpp File Reference
#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>
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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 
)

◆ 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.

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◆ TEST() [2/3]

TEST ( CommandPlannerTestDirect  ,
ExceptionCoverage   
)

◆ TEST() [3/3]

TEST ( CommandPlannerTestDirect  ,
FailOnLoadContext   
)

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

Registered a found loader

Definition at line 84 of file unittest_pilz_industrial_motion_planner_direct.cpp.

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