unittest_pilz_industrial_motion_planner_direct.cpp

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#include <memory>
 
#include <gtest/gtest.h>
 
#include <pilz_industrial_motion_planner/pilz_industrial_motion_planner.hpp>
#include <pilz_industrial_motion_planner/planning_context_loader_ptp.hpp>
#include <pilz_industrial_motion_planner/planning_exceptions.hpp>
 
using namespace pilz_industrial_motion_planner;
 
TEST(CommandPlannerTestDirect, ExceptionCoverage)
{
  auto p_ex = std::make_shared<PlanningException>("");
  auto clr_ex = std::make_shared<ContextLoaderRegistrationException>("");
}
 
TEST(CommandPlannerTestDirect, CheckDoubleLoadingException)
{
  pilz_industrial_motion_planner::CommandPlanner planner;
  pilz_industrial_motion_planner::PlanningContextLoaderPtr planning_context_loader(
      new pilz_industrial_motion_planner::PlanningContextLoaderPTP());
 
  EXPECT_NO_THROW(planner.registerContextLoader(planning_context_loader));
 
  EXPECT_THROW(planner.registerContextLoader(planning_context_loader),
               pilz_industrial_motion_planner::ContextLoaderRegistrationException);
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}