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test_rrt_star.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #define BOOST_TEST_MODULE "rrt_star"
38 #include <boost/test/unit_test.hpp>
39 #include "../../../../../tests/BoostTestTeamCityReporter.h"
40 
41 // The following header file is useful for testing planners.
42 // See ../../../../../tests/geometric/2dmap.cpp for example usage.
43 // You could copy that file and modify it for your planner.
44 #include "../../../../../tests/base/PlannerTest.h"
45 #include "../../../../../tests/geometric/2dmap/2DmapSetup.h"
46 
47 #include "../RRTstar.h"
48 
49 using namespace ompl;
50 
51 
52 BOOST_AUTO_TEST_CASE(Basic)
53 {
54  geometric::SimpleSetup2DMap s("env1.txt");
55  s.setPlanner(base::PlannerPtr(new geometric::RRTstar(s.getSpaceInformation())));
56  s.setup();
57  base::PlannerTest pt(s.getPlanner());
58  pt.test();
59 }
60 
61 BOOST_AUTO_TEST_CASE(More)
62 {
63  // other tests, if you want
64 }