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

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

#include <test_behavior.hpp>

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 ()

Detailed Description

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

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_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::WithBehaviorWithoutContext< BehaviorT >::behavior ( )

inline

blackboard()

template<class BehaviorT >

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

inline

config()

template<class BehaviorT >

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

inline

initBehavior()

template<class BehaviorT >

void moveit_studio::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

WrongBehaviorPortsException

if the Behavior does not define exactly the expected ports.

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

• test_behavior.hpp
• test_behavior_impl.hpp