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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
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3244ac92b1
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@ -671,7 +671,7 @@ TEST(Task, timeout) {
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EXPECT_EQ(t.solutions().size(), 2u);
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}
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TEST(Fallback, failing) {
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TEST(Fallback, failingNoSolutions) {
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resetMockupIds();
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Task t;
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t.setRobotModel(getModel());
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@ -687,6 +687,22 @@ TEST(Fallback, failing) {
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EXPECT_EQ(t.solutions().size(), 0u);
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}
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TEST(Fallback, failingWithFailedSolutions) {
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resetMockupIds();
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Task t;
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t.setRobotModel(getModel());
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t.add(std::make_unique<GeneratorMockup>(PredefinedCosts::single(0.0)));
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auto fallback = std::make_unique<Fallbacks>("Fallbacks");
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fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(INF)));
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fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(INF)));
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t.add(std::move(fallback));
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EXPECT_FALSE(t.plan());
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EXPECT_EQ(t.solutions().size(), 0u);
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}
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TEST(Fallback, DISABLED_ConnectStageInsideFallbacks) {
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resetMockupIds();
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Task t;
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