moveit_studio::test_utils::WithBehavior< BehaviorT > Class Template Reference

Adds testing capabilities of Behaviors with context to any test fixture. More...

#include <test_behavior.hpp>

Inheritance diagram for moveit_studio::test_utils::WithBehavior< BehaviorT >:

Public Member Functions
void	initBehavior (const std::string &name, PortSetterMapGenerator input_port_setter_generator, PortSetterMapGenerator output_port_setter_generator)
	Initializes the Behavior under test. More...
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. More...
void	setTransform (const geometry_msgs::msg::TransformStamped &transform_msg)
	Makes a transform available in the shared transform buffer. More...
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. More...

Protected Member Functions
void	initBehaviorCommon (const std::string &name, PortSetterMapGenerator input_port_setter_generator, PortSetterMapGenerator output_port_setter_generator)
std::unique_ptr< BehaviorT > &	behaviorPtr ()

Detailed Description

template<class BehaviorT>
class moveit_studio::test_utils::WithBehavior< BehaviorT >

Adds testing capabilities of Behaviors with context to any test fixture.

To test a Behavior with context (shared resources), a test fixture inherits from this class in addition to any base test fixture, e.g. ::testing::Test, ::moveit_studio::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.

Member Function Documentation

behavior()

template<class BehaviorT >

BehaviorT& moveit_studio::test_utils::WithBehavior< BehaviorT >::behavior ( )

inline

behaviorContext()

template<class BehaviorT >

behaviors::BehaviorContext& moveit_studio::test_utils::WithBehavior< BehaviorT >::behaviorContext ( )

inline

behaviorContextSharedPtr()

template<class BehaviorT >

std::shared_ptr<behaviors::BehaviorContext> moveit_studio::test_utils::WithBehavior< BehaviorT >::behaviorContextSharedPtr ( )

inline

behaviorNode()

template<class BehaviorT >

rclcpp::Node& moveit_studio::test_utils::WithBehavior< BehaviorT >::behaviorNode ( )

inline

behaviorNodePtr()

template<class BehaviorT >

std::shared_ptr<rclcpp::Node> moveit_studio::test_utils::WithBehavior< BehaviorT >::behaviorNodePtr ( )

inline

behaviorPtr()

template<class BehaviorT >

std::unique_ptr<BehaviorT>& moveit_studio::test_utils::WithBehavior< BehaviorT >::behaviorPtr ( )

inlineprotected

blackboard()

template<class BehaviorT >

BT::Blackboard& moveit_studio::test_utils::WithBehavior< BehaviorT >::blackboard ( )

inline

config()

template<class BehaviorT >

BT::NodeConfiguration& moveit_studio::test_utils::WithBehavior< BehaviorT >::config ( )

inline

initBehavior()

template<class BehaviorT >

void moveit_studio::test_utils::WithBehavior< 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

WrongBehaviorPortsException

if the Behavior does not define exactly the expected ports.

initBehaviorCommon()

template<class BehaviorT >

void moveit_studio::test_utils::WithBehavior< BehaviorT >::initBehaviorCommon ( const std::string &  name, PortSetterMapGenerator  input_port_setter_generator, PortSetterMapGenerator  output_port_setter_generator  )

protected

mockLogger()

template<class BehaviorT >

MockLogger& moveit_studio::test_utils::WithBehavior< BehaviorT >::mockLogger ( )

inline

setTestDataDirectories()

template<class BehaviorT >

void moveit_studio::test_utils::WithBehavior< BehaviorT >::setTestDataDirectories

(

const std::vector< std::string > &

objective_library_directories

)

Configure the directories that a test will read data from and/or write data to.

Parameters

objective_library_directories

Directories where the test should search for data and/or write data to.

setTransform() [1/2]

template<class BehaviorT >

void moveit_studio::test_utils::WithBehavior< BehaviorT >::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.

The Behavior will have access to the transform, as well as other Behaviors sharing the buffer.

Parameters

stamp	Timestamp of the transform.
parent_frame	Frame from which the transform is expressed.
child_frame	Child frame described by the transform with respect to the parent frame.
transform	Transform from the parent frame to the child frame.

setTransform() [2/2]

template<class BehaviorT >

void moveit_studio::test_utils::WithBehavior< BehaviorT >::setTransform

(

const geometry_msgs::msg::TransformStamped &

transform_msg

)

Makes a transform available in the shared transform buffer.

The Behavior will have access to the transform, as well as other Behaviors sharing the buffer.

Parameters

transform_msg

The stamped transform message.

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

• test_behavior.hpp
• test_behavior_impl.hpp