#include <test_behavior.hpp>

Inheritance diagram for moveit_studio::test_utils::WithActionBehavior< BehaviorT, ClientInterfaceT >:

Collaboration diagram for moveit_studio::test_utils::WithActionBehavior< BehaviorT, ClientInterfaceT >:

Public Member Functions
void	initBehavior (const std::string &name, PortSetterMapGenerator input_port_setter_generator, PortSetterMapGenerator output_port_setter_generator, std::unique_ptr< ClientInterfaceT > &&client_interface)
	Initializes the Behavior under test with a client interface.

Public Member Functions inherited from moveit_studio::test_utils::WithBehavior< BehaviorT >
void	initBehavior (const std::string &name, PortSetterMapGenerator input_port_setter_generator, PortSetterMapGenerator output_port_setter_generator)
	Initializes the Behavior under test.

BehaviorT &	behavior ()

BT::NodeConfiguration &	config ()

BT::Blackboard &	blackboard ()

MockLogger &	mockLogger ()

behaviors::BehaviorContext &	behaviorContext ()

std::shared_ptr< behaviors::BehaviorContext >	behaviorContextSharedPtr ()

rclcpp::Node &	behaviorNode ()

std::shared_ptr< rclcpp::Node >	behaviorNodePtr ()

void	setTestDataDirectories (const std::vector< std::string > &objective_library_directories)
	Configure the directories that a test will read data from and/or write data to.

void	setTransform (const geometry_msgs::msg::TransformStamped &transform_msg)
	Makes a transform available in the shared transform buffer.

void	setTransform (const builtin_interfaces::msg::Time &stamp, std::string_view parent_frame, std::string_view child_frame, const Eigen::Isometry3d &transform)
	Makes a transform available in the shared transform buffer.

Additional Inherited Members
Protected Member Functions inherited from moveit_studio::test_utils::WithBehavior< BehaviorT >
void	initBehaviorCommon (const std::string &name, PortSetterMapGenerator input_port_setter_generator, PortSetterMapGenerator output_port_setter_generator)

std::unique_ptr< BehaviorT > &	behaviorPtr ()

Member Function Documentation

◆ initBehavior()

template<class BehaviorT , class ClientInterfaceT >

void moveit_studio::test_utils::WithActionBehavior< BehaviorT, ClientInterfaceT >::initBehavior	(	const std::string &	name,
		PortSetterMapGenerator	input_port_setter_generator,
		PortSetterMapGenerator	output_port_setter_generator,
		std::unique_ptr< ClientInterfaceT > &&	client_interface
	)

Initializes the Behavior under test with a client interface.

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.
client_interface	Interface to an action client.

Exceptions

WrongBehaviorPortsException if the Behavior does not define exactly the expected ports.

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