test_behavior.hpp File Reference

#include <gmock/gmock.h>
#include <behaviortree_cpp/tree_node.h>
#include <behaviortree_cpp/blackboard.h>
#include <moveit_studio_behavior_interface/behavior_context.hpp>
#include <moveit_studio_common/test_utils/mock_logger.hpp>
#include <tf2_eigen/tf2_eigen.hpp>
#include <moveit_studio_behavior_interface/action_client_behavior_base.hpp>
#include <moveit_studio_behavior_interface/impl/test_behavior_impl.hpp>

Include dependency graph for test_behavior.hpp:

This graph shows which files directly or indirectly include this file:

Classes
class	moveit_studio::test_utils::WithBehaviorWithoutContext< BehaviorT >
	Adds testing capabilities of Behaviors without context to any test fixture. More...
class	moveit_studio::test_utils::WithBehavior< BehaviorT >
	Adds testing capabilities of Behaviors with context to any test fixture. More...
class	moveit_studio::test_utils::WithActionBehavior< BehaviorT, ClientInterfaceT >
class	moveit_studio::test_utils::WrongBehaviorPortsException
	Exception thrown by Behavior testing classes when the Behavior does not define exactly the expected ports. More...

Namespaces
	moveit_studio
	moveit_studio::test_utils

Macros
#define	BEGIN_BEHAVIOR_PORT_SETTER_MAP_WITH_ATTRIBUTES(name, attributes)
	Begins the definition of a port setter map and adds attributes to its generator function. More...
#define	BEGIN_BEHAVIOR_PORT_SETTER_MAP(name)   BEGIN_BEHAVIOR_PORT_SETTER_MAP_WITH_ATTRIBUTES(name, )
	Begins the definition of a port setter map. More...
#define	DEFINE_BEHAVIOR_PORT_SETTER(port_id, default_object)
	Defines the port setter for a port ID. More...
#define	DEFINE_OPTIONAL_BEHAVIOR_PORT_SETTER(port_id, default_object)    { port_id, ::moveit_studio::test_utils::PortSetter() },
	Defines the port setter for an optional port ID. More...
#define	END_BEHAVIOR_PORT_SETTER_MAP()
	Ends the definition of a port setter map. More...

Typedefs
using	moveit_studio::test_utils::PortSetter = std::function< void(BT::Blackboard &, const std::string &)>
	A callable that sets a Behavior port in a blackboard. More...
using	moveit_studio::test_utils::PortSetterMap = std::map< std::string, PortSetter >
	A map associating port names to their setters. More...
using	moveit_studio::test_utils::PortSetterMapGenerator = const PortSetterMap &(*)(void)
	A function generating a map of port setters. More...

Functions
std::set< std::string >	moveit_studio::test_utils::getPortIDs (const PortSetterMap &map, bool only_mandatory=false)
	Returns port IDs in a port setter map. More...

Macro Definition Documentation

BEGIN_BEHAVIOR_PORT_SETTER_MAP

#define BEGIN_BEHAVIOR_PORT_SETTER_MAP

(

name

)

BEGIN_BEHAVIOR_PORT_SETTER_MAP_WITH_ATTRIBUTES(name, )

Begins the definition of a port setter map.

Must be followed by a instance of END_BEHAVIOR_PORT_SETTER_MAP; there can be instances of DEFINE_BEHAVIOR_PORT_SETTER between the two.

Parameters

name	Name of this port setter map. Must be unique within the file.

BEGIN_BEHAVIOR_PORT_SETTER_MAP_WITH_ATTRIBUTES

#define BEGIN_BEHAVIOR_PORT_SETTER_MAP_WITH_ATTRIBUTES	(		name,
			attributes
	)

Value:

  namespace                                                                                                            \
  {                                                                                                                    \
  attributes const ::moveit_studio::test_utils::PortSetterMap& name()                                                  \
  {                                                                                                                    \
    static const auto* port_setter = new ::moveit_studio::test_utils::PortSetterMap                                    \
    {

Begins the definition of a port setter map and adds attributes to its generator function.

Unless you have a very specific need to add attributes to the function this macro generates, you probably want to use BEGIN_BEHAVIOR_PORT_SETTER_MAP instead. Must be followed by an instance of END_BEHAVIOR_PORT_SETTER_MAP; there can be instances of DEFINE_BEHAVIOR_PORT_SETTER between the two.

Parameters

name	Name of this port setter map. Must be unique within the file.
attributes	Attributes to prefix the generator function with.

DEFINE_BEHAVIOR_PORT_SETTER

#define DEFINE_BEHAVIOR_PORT_SETTER	(		port_id,
			default_object
	)

Value:

  { port_id, ::moveit_studio::test_utils::PortSetter([](BT::Blackboard& blackboard, const std::string& port_name) {    \
      blackboard.set(port_name, default_object);                                                                       \
    }) },

Defines the port setter for a port ID.

Parameters

port_id	ID of the Behavior port to set.
default_object	Value the port will be set to.

DEFINE_OPTIONAL_BEHAVIOR_PORT_SETTER

#define DEFINE_OPTIONAL_BEHAVIOR_PORT_SETTER	(		port_id,
			default_object
	)		{ port_id, ::moveit_studio::test_utils::PortSetter() },

Defines the port setter for an optional port ID.

Optional ports are those that can have no value set when the behavior is run, although the behavior still has to create them.

Parameters

port_id	ID of the Behavior port to set.
default_object	Value the port will be set to.

END_BEHAVIOR_PORT_SETTER_MAP

#define END_BEHAVIOR_PORT_SETTER_MAP

(

)

Value:

  }                                                                                                                    \
  ;                                                                                                                    \
  return *port_setter;                                                                                                 \
  }                                                                                                                    \
  }

Ends the definition of a port setter map.

Must be preceded by a instance of BEGIN_BEHAVIOR_PORT_SETTER_MAP*; there can be instances of DEFINE_BEHAVIOR_PORT_SETTER between the two.