WithBehaviorWithoutContext Class Template

Adds testing capabilities of Behaviors without context to any test fixture. More...

Declaration

template <class BehaviorT>
class moveit_pro::test_utils::WithBehaviorWithoutContext<BehaviorT> { ... }

Included Headers

#include <test_behavior.hpp>

Public Member Functions Index

template <class BehaviorT>
void	initBehavior (const std::string &name, PortSetterMapGenerator input_port_setter_generator, PortSetterMapGenerator output_port_setter_generator)
	Initializes the Behavior under test. More...
template <class BehaviorT>
BehaviorT &	behavior ()
template <class BehaviorT>
BT::NodeConfiguration &	config ()
template <class BehaviorT>
BT::Blackboard &	blackboard ()

Private Member Attributes Index

template <class BehaviorT>
std::unique_ptr< BehaviorT >	behavior_
template <class BehaviorT>
BT::NodeConfiguration	config_

Description

Adds testing capabilities of Behaviors without context to any test fixture.

To test a Behavior without context (shared resources), a test fixture inherits from this class in addition to any base test fixture, e.g. ::testing::Test, ::moveit_pro::test_utils::RostTest, etc. The fixture automatically tests that the Behavior creates all and only the expected ports.

Template Parameters

BehaviorT

The class of the Behavior under test.

Definition at line 54 of file test_behavior.hpp.

Public Member Functions

behavior()

template <class BehaviorT>

BehaviorT & moveit_pro::test_utils::WithBehaviorWithoutContext< BehaviorT >::behavior ()

inline

Definition at line 68 of file test_behavior.hpp.

blackboard()

template <class BehaviorT>

BT::Blackboard & moveit_pro::test_utils::WithBehaviorWithoutContext< BehaviorT >::blackboard ()

inline

Definition at line 76 of file test_behavior.hpp.

config()

template <class BehaviorT>

BT::NodeConfiguration & moveit_pro::test_utils::WithBehaviorWithoutContext< BehaviorT >::config ()

inline

Definition at line 72 of file test_behavior.hpp.

initBehavior()

template <class BehaviorT>

void moveit_pro::test_utils::WithBehaviorWithoutContext< BehaviorT >::initBehavior (const std::string & name, PortSetterMapGenerator input_port_setter_generator, PortSetterMapGenerator output_port_setter_generator)

Initializes the Behavior under test.

Call this function in your fixture's constructor, SetUp() or any of its setUp* variations.

Parameters

name	The name of the Behavior.
input_port_setter_generator	A port setter map generator defining the expected input ports.
output_port_setter_generator	A port setter map generator defining the expected output ports.

Exceptions

<a href="/api/classes/moveit-pro/test-utils/wrongbehaviorportsexception">WrongBehaviorPortsException</a>

if the Behavior does not define exactly the expected ports.

Declaration at line 65 of file test_behavior.hpp, definition at line 130 of file test_behavior_impl.hpp.

Private Member Attributes

behavior_

template <class BehaviorT>

std::unique_ptr<BehaviorT> moveit_pro::test_utils::WithBehaviorWithoutContext< BehaviorT >::behavior_

Definition at line 82 of file test_behavior.hpp.

config_

template <class BehaviorT>

BT::NodeConfiguration moveit_pro::test_utils::WithBehaviorWithoutContext< BehaviorT >::config_

Definition at line 83 of file test_behavior.hpp.

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The documentation for this class was generated from the following files:

• test_behavior_impl.hpp
• test_behavior.hpp

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