SensorsNodeForTesting Class Reference

Subclass of SensorsNode that exposes the protected groups_ and handler_list_ for unit testing. More...

Inheritance diagram for SensorsNodeForTesting:

Collaboration diagram for SensorsNodeForTesting:

Public Member Functions
const std::map< std::string, std::vector< std::string > > &	groups_for_testing () const
const std::map< std::string, std::vector< std::string > > &	groups_for_testing () const
const std::map< std::string, std::vector< std::string > > &	groups_for_testing () const
const std::vector< std::shared_ptr< easynav::PerceptionHandler > > &	handler_list_for_testing () const
const std::vector< std::shared_ptr< easynav::PerceptionHandler > > &	handler_list_for_testing () const
	SensorsNodeForTesting (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	SensorsNodeForTesting (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	SensorsNodeForTesting (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
Public Member Functions inherited from SensorsNode
void	cycle (std::shared_ptr< NavState > nav_state)
	Run one non-real-time processing cycle.
bool	cycle_rt (std::shared_ptr< NavState > nav_state, bool trigger=false)
	Run one real-time sensor processing cycle.
rclcpp::CallbackGroup::SharedPtr	get_real_time_cbg ()
	Get the callback group for real-time tasks.
CallbackReturnT	on_activate (const rclcpp_lifecycle::State &state)
	Activate the node.
CallbackReturnT	on_cleanup (const rclcpp_lifecycle::State &state)
	Cleanup the node.
CallbackReturnT	on_configure (const rclcpp_lifecycle::State &state)
	Configure the node.
CallbackReturnT	on_deactivate (const rclcpp_lifecycle::State &state)
	Deactivate the node.
CallbackReturnT	on_error (const rclcpp_lifecycle::State &state)
	Handle lifecycle transition errors.
CallbackReturnT	on_shutdown (const rclcpp_lifecycle::State &state)
	Shutdown the node.
	SensorsNode (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	Constructor.
	~SensorsNode ()
	Destructor.

Additional Inherited Members
Public Types inherited from SensorsNode
using	CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
Protected Attributes inherited from SensorsNode
std::map< std::string, std::vector< std::string > >	groups_
	Sensor groups (set as group of keys in the NavState).
std::vector< std::shared_ptr< PerceptionHandler > >	handler_list_
	vector of PerceptionHandler instances

Detailed Description

Subclass of SensorsNode that exposes the protected groups_ and handler_list_ for unit testing.

Exposes protected members of SensorsNode for unit testing.

Not part of the production API: only instantiated in test code.

Constructor & Destructor Documentation

SensorsNodeForTesting() [1/3]

SensorsNodeForTesting ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

SensorsNodeForTesting() [2/3]

SensorsNodeForTesting ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

SensorsNodeForTesting() [3/3]

SensorsNodeForTesting ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

Member Function Documentation

groups_for_testing() [1/3]

const std::map< std::string, std::vector< std::string > > & groups_for_testing

(

)

const

groups_for_testing() [2/3]

const std::map< std::string, std::vector< std::string > > & groups_for_testing

(

)

const

groups_for_testing() [3/3]

const std::map< std::string, std::vector< std::string > > & groups_for_testing

(

)

const

handler_list_for_testing() [1/2]

const std::vector< std::shared_ptr< easynav::PerceptionHandler > > & handler_list_for_testing

(

)

const

handler_list_for_testing() [2/2]

const std::vector< std::shared_ptr< easynav::PerceptionHandler > > & handler_list_for_testing

(

)

const

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

• easynav_sensors/tests/plugin_tests.cpp
• easynav_sensors/tests/sensors_lifecycle_tests.cpp
• easynav_sensors/tests/sensors_node_tests.cpp