mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
add another test to cover both cases for failing children
This commit is contained in:
parent
3244ac92b1
commit
14380c5552
@ -671,7 +671,7 @@ TEST(Task, timeout) {
|
|||||||
EXPECT_EQ(t.solutions().size(), 2u);
|
EXPECT_EQ(t.solutions().size(), 2u);
|
||||||
}
|
}
|
||||||
|
|
||||||
TEST(Fallback, failing) {
|
TEST(Fallback, failingNoSolutions) {
|
||||||
resetMockupIds();
|
resetMockupIds();
|
||||||
Task t;
|
Task t;
|
||||||
t.setRobotModel(getModel());
|
t.setRobotModel(getModel());
|
||||||
@ -687,6 +687,22 @@ TEST(Fallback, failing) {
|
|||||||
EXPECT_EQ(t.solutions().size(), 0u);
|
EXPECT_EQ(t.solutions().size(), 0u);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
TEST(Fallback, failingWithFailedSolutions) {
|
||||||
|
resetMockupIds();
|
||||||
|
Task t;
|
||||||
|
t.setRobotModel(getModel());
|
||||||
|
|
||||||
|
t.add(std::make_unique<GeneratorMockup>(PredefinedCosts::single(0.0)));
|
||||||
|
|
||||||
|
auto fallback = std::make_unique<Fallbacks>("Fallbacks");
|
||||||
|
fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(INF)));
|
||||||
|
fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(INF)));
|
||||||
|
t.add(std::move(fallback));
|
||||||
|
|
||||||
|
EXPECT_FALSE(t.plan());
|
||||||
|
EXPECT_EQ(t.solutions().size(), 0u);
|
||||||
|
}
|
||||||
|
|
||||||
TEST(Fallback, DISABLED_ConnectStageInsideFallbacks) {
|
TEST(Fallback, DISABLED_ConnectStageInsideFallbacks) {
|
||||||
resetMockupIds();
|
resetMockupIds();
|
||||||
Task t;
|
Task t;
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user