#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:

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.

Classes

Functions