MoveIt Pro Behavior Interface
5.3.2
Library for developing custom behaviors for use in MoveIt Pro
|
Classes | |
class | WithBehaviorWithoutContext |
Adds testing capabilities of Behaviors without context to any test fixture. More... | |
class | WithBehavior |
Adds testing capabilities of Behaviors with context to any test fixture. More... | |
class | WithActionBehavior |
class | WrongBehaviorPortsException |
Exception thrown by Behavior testing classes when the Behavior does not define exactly the expected ports. More... | |
Typedefs | |
using | PortSetter = std::function< void(BT::Blackboard &, const std::string &)> |
A callable that sets a Behavior port in a blackboard. More... | |
using | PortSetterMap = std::map< std::string, PortSetter > |
A map associating port names to their setters. More... | |
using | PortSetterMapGenerator = const PortSetterMap &(*)(void) |
A function generating a map of port setters. More... | |
Functions | |
std::set< std::string > | getPortIDs (const PortSetterMap &map, bool only_mandatory=false) |
Returns port IDs in a port setter map. More... | |
Variables | |
constexpr auto | kPortNotSetTestsMaxTimeBehaviorIsInRunningStatus = std::chrono::milliseconds(100) |
using moveit_studio::test_utils::PortSetter = typedef std::function<void(BT::Blackboard&, const std::string&)> |
A callable that sets a Behavior port in a blackboard.
using moveit_studio::test_utils::PortSetterMap = typedef std::map<std::string, PortSetter> |
A map associating port names to their setters.
using moveit_studio::test_utils::PortSetterMapGenerator = typedef const PortSetterMap& (*)(void) |
A function generating a map of port setters.
Setters for input and output ports are passed to the Behavior testing classes and macros to automatically generate port tests.
std::set< std::string > moveit_studio::test_utils::getPortIDs | ( | const PortSetterMap & | map, |
bool | only_mandatory = false |
||
) |
Returns port IDs in a port setter map.
map | The map from which to retrieve port IDs. |
only_mandatory | if true, does not return IDs for optional ports. |
|
constexpr |