moveit2
The MoveIt Motion Planning Framework for ROS 2.
test_all_valid.cpp
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34 
35 /* Author: Simon Schmeisser */
36 
37 #include <gtest/gtest.h>
40 
41 TEST(AllValid, Instantiate)
42 {
43  using namespace collision_detection;
45 
46  urdf::ModelInterfaceSharedPtr urdf_model;
47  urdf_model = std::make_shared<urdf::ModelInterface>();
48  srdf::ModelConstSharedPtr srdf_model;
49  srdf_model = std::make_shared<srdf::Model>();
50  moveit::core::RobotModelConstPtr robot_model;
51  robot_model = std::make_shared<moveit::core::RobotModel>(urdf_model, srdf_model);
52  CollisionEnvAllValid env(robot_model);
53 }
54 
55 int main(int argc, char** argv)
56 {
57  testing::InitGoogleTest(&argc, argv);
58  return RUN_ALL_TESTS();
59 }
Collision environment which always just returns no collisions.
TEST(AllValid, Instantiate)
int main(int argc, char **argv)