moveit2
The MoveIt Motion Planning Framework for ROS 2.
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planning_scene_monitor_test.cpp File Reference
#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:

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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); \
}

Definition at line 103 of file planning_scene_monitor_test.cpp.

Typedef Documentation

◆ UpdateType

Definition at line 101 of file planning_scene_monitor_test.cpp.

Function Documentation

◆ main()

int main ( int  argc,
char **  argv 
)

Definition at line 150 of file planning_scene_monitor_test.cpp.

◆ TEST_F() [1/2]

TEST_F ( PlanningSceneMonitorTest  ,
TestPersistentScene   
)

Definition at line 89 of file planning_scene_monitor_test.cpp.

◆ TEST_F() [2/2]

TEST_F ( PlanningSceneMonitorTest  ,
UpdateTypes   
)

Definition at line 112 of file planning_scene_monitor_test.cpp.

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