ControllerNodeVelocityTest Class Reference

Inheritance diagram for ControllerNodeVelocityTest:

Collaboration diagram for ControllerNodeVelocityTest:

Protected Member Functions
void	cycle (std::optional< double > controller, std::optional< double > takeover=std::nullopt, std::optional< double > override_vel=std::nullopt)
void	expect_within_acceleration_limits (size_t from=0) const
void	make_active_node (std::vector< rclcpp::Parameter > extra={})
void	SetUp () override
void	spin_for (std::chrono::milliseconds d)

Protected Attributes
std::unique_ptr< rclcpp::executors::SingleThreadedExecutor >	exe_
rclcpp::Node::SharedPtr	listener_
std::shared_ptr< easynav::NavState >	nav_state_ = std::make_shared<easynav::NavState>()
easynav::ControllerNode::SharedPtr	node_
std::vector< double >	received_
std::vector< rclcpp::Time >	stamps_
rclcpp::Subscription< geometry_msgs::msg::TwistStamped >::SharedPtr	sub_

Member Function Documentation

cycle()

void cycle ( std::optional< double > controller, std::optional< double > takeover = std::nullopt, std::optional< double > override_vel = std::nullopt )

protected

expect_within_acceleration_limits()

void expect_within_acceleration_limits ( size_t from = 0 ) const

protected

make_active_node()

void make_active_node ( std::vector< rclcpp::Parameter > extra = {} )

protected

SetUp()

void SetUp ( )

overrideprotected

spin_for()

void spin_for ( std::chrono::milliseconds d )

protected

Member Data Documentation

exe_

std::unique_ptr<rclcpp::executors::SingleThreadedExecutor> exe_

protected

listener_

rclcpp::Node::SharedPtr listener_

protected

nav_state_

std::shared_ptr<easynav::NavState> nav_state_ = std::make_shared<easynav::NavState>()

protected

node_

easynav::ControllerNode::SharedPtr node_

protected

received_

std::vector<double> received_

protected

stamps_

std::vector<rclcpp::Time> stamps_

protected

sub_

rclcpp::Subscription<geometry_msgs::msg::TwistStamped>::SharedPtr sub_

protected

---

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

• easynav_controller/tests/controller_node_velocity_tests.cpp