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The MoveIt Motion Planning Framework for ROS 2.
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Classes | Functions
unittest_pilz_industrial_motion_planner.cpp File Reference
#include <gtest/gtest.h>
#include <iostream>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <pilz_industrial_motion_planner/pilz_industrial_motion_planner.h>
#include "test_utils.h"
#include <rclcpp/rclcpp.hpp>
Include dependency graph for unittest_pilz_industrial_motion_planner.cpp:

Go to the source code of this file.

Classes

class  CommandPlannerTest
 

Functions

 TEST_F (CommandPlannerTest, ObtainLoadedPlanningAlgorithms)
 Test that PTP can be loaded This needs to be extended with every new planning Algorithm.
 
 TEST_F (CommandPlannerTest, CheckValidAlgorithmsForServiceRequest)
 Check that all announced planning algorithms can perform the service request if the planner_id is set.
 
 TEST_F (CommandPlannerTest, CheckEmptyGroupNameForServiceRequest)
 
 TEST_F (CommandPlannerTest, CheckInvalidGroupNameForServiceRequest)
 
 TEST_F (CommandPlannerTest, CheckInvalidAlgorithmsForServiceRequest)
 Check that canServiceRequest(req) returns false if planner_id is not supported.
 
 TEST_F (CommandPlannerTest, CheckEmptyPlannerIdForServiceRequest)
 Check that canServiceRequest(req) returns false if planner_id is empty.
 
 TEST_F (CommandPlannerTest, CheckPlanningContextRequestNull)
 Check integrity against empty input.
 
 TEST_F (CommandPlannerTest, CheckPlanningContextRequest)
 Check that for the announced algorithms getPlanningContext does not return nullptr.
 
 TEST_F (CommandPlannerTest, CheckPlanningContextDescriptionNotEmptyAndStable)
 Check the description can be obtained and is not empty.
 
 TEST_F (CommandPlannerTest, FailOnLoadContext)
 Check that getPlanningContext() fails if the underlying ContextLoader fails to load the context.
 
int main (int argc, char **argv)
 

Function Documentation

◆ main()

int main ( int  argc,
char **  argv 
)

Definition at line 303 of file unittest_pilz_industrial_motion_planner.cpp.

◆ TEST_F() [1/10]

TEST_F ( CommandPlannerTest  ,
CheckEmptyGroupNameForServiceRequest   
)

Definition at line 166 of file unittest_pilz_industrial_motion_planner.cpp.

◆ TEST_F() [2/10]

TEST_F ( CommandPlannerTest  ,
CheckEmptyPlannerIdForServiceRequest   
)

Check that canServiceRequest(req) returns false if planner_id is empty.

Definition at line 213 of file unittest_pilz_industrial_motion_planner.cpp.

◆ TEST_F() [3/10]

TEST_F ( CommandPlannerTest  ,
CheckInvalidAlgorithmsForServiceRequest   
)

Check that canServiceRequest(req) returns false if planner_id is not supported.

Definition at line 201 of file unittest_pilz_industrial_motion_planner.cpp.

◆ TEST_F() [4/10]

TEST_F ( CommandPlannerTest  ,
CheckInvalidGroupNameForServiceRequest   
)

Definition at line 181 of file unittest_pilz_industrial_motion_planner.cpp.

◆ TEST_F() [5/10]

TEST_F ( CommandPlannerTest  ,
CheckPlanningContextDescriptionNotEmptyAndStable   
)

Check the description can be obtained and is not empty.

Definition at line 257 of file unittest_pilz_industrial_motion_planner.cpp.

◆ TEST_F() [6/10]

TEST_F ( CommandPlannerTest  ,
CheckPlanningContextRequest   
)

Check that for the announced algorithms getPlanningContext does not return nullptr.

Definition at line 236 of file unittest_pilz_industrial_motion_planner.cpp.

◆ TEST_F() [7/10]

TEST_F ( CommandPlannerTest  ,
CheckPlanningContextRequestNull   
)

Check integrity against empty input.

Definition at line 225 of file unittest_pilz_industrial_motion_planner.cpp.

◆ TEST_F() [8/10]

TEST_F ( CommandPlannerTest  ,
CheckValidAlgorithmsForServiceRequest   
)

Check that all announced planning algorithms can perform the service request if the planner_id is set.

Definition at line 150 of file unittest_pilz_industrial_motion_planner.cpp.

◆ TEST_F() [9/10]

TEST_F ( CommandPlannerTest  ,
FailOnLoadContext   
)

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

Registered a found loader

Definition at line 267 of file unittest_pilz_industrial_motion_planner.cpp.

Here is the call graph for this function:

◆ TEST_F() [10/10]

TEST_F ( CommandPlannerTest  ,
ObtainLoadedPlanningAlgorithms   
)

Test that PTP can be loaded This needs to be extended with every new planning Algorithm.

Definition at line 126 of file unittest_pilz_industrial_motion_planner.cpp.