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The MoveIt Motion Planning Framework for ROS 2.
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unittest_planning_context_loaders.cpp File Reference
#include <gtest/gtest.h>
#include <pluginlib/class_loader.hpp>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <pilz_industrial_motion_planner/planning_context_loader.h>
#include "test_utils.h"
#include <rclcpp/rclcpp.hpp>
Include dependency graph for unittest_planning_context_loaders.cpp:

Go to the source code of this file.

Classes

class  PlanningContextLoadersTest
 

Functions

 INSTANTIATE_TEST_SUITE_P (InstantiationName, PlanningContextLoadersTest, ::testing::Values(std::vector< std::string >{ "pilz_industrial_motion_planner/PlanningContextLoaderPTP", "PTP" }, std::vector< std::string >{ "pilz_industrial_motion_planner/PlanningContextLoaderLIN", "LIN" }, std::vector< std::string >{ "pilz_industrial_motion_planner/PlanningContextLoaderCIRC", "CIRC" }))
 
 TEST_P (PlanningContextLoadersTest, GetAlgorithm)
 Test getAlgorithm returns PTP.
 
 TEST_P (PlanningContextLoadersTest, LoadContext)
 Check that load Context returns initialized shared pointer.
 
int main (int argc, char **argv)
 

Function Documentation

◆ INSTANTIATE_TEST_SUITE_P()

INSTANTIATE_TEST_SUITE_P ( InstantiationName  ,
PlanningContextLoadersTest  ,
::testing::Values(std::vector< std::string >{ "pilz_industrial_motion_planner/PlanningContextLoaderPTP", "PTP" }, std::vector< std::string >{ "pilz_industrial_motion_planner/PlanningContextLoaderLIN", "LIN" }, std::vector< std::string >{ "pilz_industrial_motion_planner/PlanningContextLoaderCIRC", "CIRC" })   
)

◆ main()

int main ( int  argc,
char **  argv 
)

Definition at line 176 of file unittest_planning_context_loaders.cpp.

◆ TEST_P() [1/2]

TEST_P ( PlanningContextLoadersTest  ,
GetAlgorithm   
)

Test getAlgorithm returns PTP.

Definition at line 129 of file unittest_planning_context_loaders.cpp.

◆ TEST_P() [2/2]

TEST_P ( PlanningContextLoadersTest  ,
LoadContext   
)

Check that load Context returns initialized shared pointer.

Definition at line 138 of file unittest_planning_context_loaders.cpp.

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