26
26
using ::behavior_path_planner::BehaviorPathPlannerNode;
27
27
using planning_test_utils::PlanningInterfaceTestManager;
28
28
29
- std::shared_ptr<PlanningInterfaceTestManager> generateTestManager ()
29
+ std::shared_ptr<PlanningInterfaceTestManager> generate_test_manager ()
30
30
{
31
31
auto test_manager = std::make_shared<PlanningInterfaceTestManager>();
32
32
@@ -41,7 +41,7 @@ std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
41
41
return test_manager;
42
42
}
43
43
44
- std::shared_ptr<BehaviorPathPlannerNode> generateNode ()
44
+ std::shared_ptr<BehaviorPathPlannerNode> generate_node ()
45
45
{
46
46
auto node_options = rclcpp::NodeOptions{};
47
47
const auto planning_test_utils_dir =
@@ -75,9 +75,9 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode()
75
75
return std::make_shared<BehaviorPathPlannerNode>(node_options);
76
76
}
77
77
78
- void publishMandatoryTopics (
79
- std::shared_ptr<PlanningInterfaceTestManager> test_manager,
80
- std::shared_ptr<BehaviorPathPlannerNode> test_target_node)
78
+ void publish_mandatory_topics (
79
+ const std::shared_ptr<PlanningInterfaceTestManager>& test_manager,
80
+ const std::shared_ptr<BehaviorPathPlannerNode>& test_target_node)
81
81
{
82
82
// publish necessary topics from test_manager
83
83
test_manager->publishInitialPose (test_target_node, " behavior_path_planner/input/odometry" );
@@ -97,10 +97,10 @@ void publishMandatoryTopics(
97
97
TEST (PlanningModuleInterfaceTest, NodeTestWithExceptionRoute)
98
98
{
99
99
rclcpp::init (0 , nullptr );
100
- auto test_manager = generateTestManager ();
101
- auto test_target_node = generateNode ();
100
+ auto test_manager = generate_test_manager ();
101
+ auto test_target_node = generate_node ();
102
102
103
- publishMandatoryTopics (test_manager, test_target_node);
103
+ publish_mandatory_topics (test_manager, test_target_node);
104
104
105
105
// test for normal trajectory
106
106
ASSERT_NO_THROW_WITH_ERROR_MSG (test_manager->testWithBehaviorNominalRoute (test_target_node));
@@ -115,9 +115,9 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose)
115
115
{
116
116
rclcpp::init (0 , nullptr );
117
117
118
- auto test_manager = generateTestManager ();
119
- auto test_target_node = generateNode ();
120
- publishMandatoryTopics (test_manager, test_target_node);
118
+ auto test_manager = generate_test_manager ();
119
+ auto test_target_node = generate_node ();
120
+ publish_mandatory_topics (test_manager, test_target_node);
121
121
122
122
// test for normal trajectory
123
123
ASSERT_NO_THROW_WITH_ERROR_MSG (test_manager->testWithBehaviorNominalRoute (test_target_node));
0 commit comments