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src/ompl/contrib/rrt_star/tests/test_rrt_star.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #define BOOST_TEST_MODULE "rrt_star"
00038 #include <boost/test/unit_test.hpp>
00039 #include "../../../../../tests/BoostTestTeamCityReporter.h"
00040 
00041 // The following header file is useful for testing planners.
00042 // See ../../../../../tests/geometric/2dmap.cpp for example usage.
00043 // You could copy that file and modify it for your planner.
00044 #include "../../../../../tests/base/PlannerTest.h"
00045 #include "../../../../../tests/geometric/2dmap/2DmapSetup.h"
00046 
00047 #include "../RRTstar.h"
00048 
00049 using namespace ompl;
00050 
00051 
00052 BOOST_AUTO_TEST_CASE(Basic)
00053 {
00054     geometric::SimpleSetup2DMap s("env1.txt");
00055     s.setPlanner(base::PlannerPtr(new geometric::RRTstar(s.getSpaceInformation())));
00056     s.setup();
00057     base::PlannerTest pt(s.getPlanner());
00058     pt.test();
00059 }
00060 
00061 BOOST_AUTO_TEST_CASE(More)
00062 {
00063     // other tests, if you want
00064 }
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