test_utils::BaseTestPubSubs Struct Reference

Base Test fixture class for reducing code redundancy in system handler tests. More...

#include <test_utils.h>

Public Member Functions
	BaseTestPubSubs ()
	Constructor. More...
void	publishEvent (std::string event)
	Helper function to publish specified event specified. More...
void	publishPoseCommand (PositionYaw position_yaw)
	Helper function to publish specified position_yaw command. More...
PositionYaw	getPositionYaw (parsernode::common::quaddata quad_data)
	Helper function to return position and yaw from UAV data. More...
bool	isStatusConnected ()
	Helper function to check if status subscriber to connected UAV status publisher. More...

Protected Member Functions
void	statusCallback (std_msgs::String status)
	Callback to set the status received from UAV. More...

Protected Attributes
std::string	status_
ros::NodeHandle	nh_send_
	Send events. More...
ros::NodeHandle	nh_receive_status_
	Receive status. More...
ros::Publisher	event_pub_
	Event publisher. More...
ros::Publisher	pose_pub_
	Pose command publisher. More...
ros::Subscriber	status_subscriber_
	System status subscriber. More...

Detailed Description

Base Test fixture class for reducing code redundancy in system handler tests.

Constructor & Destructor Documentation

test_utils::BaseTestPubSubs::BaseTestPubSubs ( )

inline

Constructor.

Initializes event, pose publishers, and system status subscriber

Member Function Documentation

PositionYaw test_utils::BaseTestPubSubs::getPositionYaw ( parsernode::common::quaddata  quad_data )

inline

Helper function to return position and yaw from UAV data.

Parameters

quad_data

UAV data returned by uav system

Returns

Position and yaw of UAV

bool test_utils::BaseTestPubSubs::isStatusConnected ( )

inline

Helper function to check if status subscriber to connected UAV status publisher.

Returns

true if connected

void test_utils::BaseTestPubSubs::publishEvent ( std::string  event )

inline

Helper function to publish specified event specified.

Parameters

event

Event to publish

void test_utils::BaseTestPubSubs::publishPoseCommand ( PositionYaw  position_yaw )

inline

Helper function to publish specified position_yaw command.

Parameters

position_yaw

position and yaw to publish

void test_utils::BaseTestPubSubs::statusCallback ( std_msgs::String  status )

inlineprotected

Callback to set the status received from UAV.

Parameters

status

Text status received from UAV

Member Data Documentation

ros::Publisher test_utils::BaseTestPubSubs::event_pub_

protected

Event publisher.

ros::NodeHandle test_utils::BaseTestPubSubs::nh_receive_status_

protected

Receive status.

ros::NodeHandle test_utils::BaseTestPubSubs::nh_send_

protected

Send events.

ros::Publisher test_utils::BaseTestPubSubs::pose_pub_

protected

Pose command publisher.

std::string test_utils::BaseTestPubSubs::status_

protected

ros::Subscriber test_utils::BaseTestPubSubs::status_subscriber_

protected

System status subscriber.

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

• include/aerial_autonomy/tests/test_utils.h