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https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
Replace std::list<double>() with PredefinedCosts()
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61496fecd3
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@ -37,8 +37,8 @@ TEST_F(FallbacksFixturePropagate, failingNoSolutions) {
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t.add(std::make_unique<GeneratorMockup>(PredefinedCosts::single(0.0)));
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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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auto fallback = std::make_unique<Fallbacks>("Fallbacks");
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fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(0.0), 0));
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fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts({}), 0));
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fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(0.0), 0));
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fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts({}), 0));
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t.add(std::move(fallback));
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t.add(std::move(fallback));
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EXPECT_FALSE(t.plan());
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EXPECT_FALSE(t.plan());
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@ -70,11 +70,11 @@ TEST_F(FallbacksFixturePropagate, ComputeFirstSuccessfulStageOnly) {
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}
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}
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TEST_F(FallbacksFixturePropagate, ComputeFirstSuccessfulStagePerSolutionOnly) {
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TEST_F(FallbacksFixturePropagate, ComputeFirstSuccessfulStagePerSolutionOnly) {
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t.add(std::make_unique<GeneratorMockup>(std::list<double>{ 1.0, 2.0 }));
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t.add(std::make_unique<GeneratorMockup>(PredefinedCosts({ 1.0, 2.0 })));
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auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
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auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
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fallbacks->add(std::make_unique<ForwardMockup>(std::list<double>{ INF, 10.0 }));
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fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts({ INF, 10.0 })));
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fallbacks->add(std::make_unique<ForwardMockup>(std::list<double>{ 20.0, INF }));
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fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts({ 20.0, INF })));
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auto fwd1 = fallbacks->findChild("FWD1");
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auto fwd1 = fallbacks->findChild("FWD1");
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auto fwd2 = fallbacks->findChild("FWD2");
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auto fwd2 = fallbacks->findChild("FWD2");
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t.add(std::move(fallbacks));
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t.add(std::move(fallbacks));
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@ -89,7 +89,7 @@ TEST_F(FallbacksFixturePropagate, successfulWithMixedSolutions) {
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t.add(std::make_unique<GeneratorMockup>());
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t.add(std::make_unique<GeneratorMockup>());
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auto fallback = std::make_unique<Fallbacks>("Fallbacks");
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auto fallback = std::make_unique<Fallbacks>("Fallbacks");
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fallback->add(std::make_unique<ForwardMockup>(std::list<double>{ INF, 1.0 }, 2));
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fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts({ INF, 1.0 }), 2));
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fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts::single(2.0)));
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fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts::single(2.0)));
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t.add(std::move(fallback));
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t.add(std::move(fallback));
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@ -101,7 +101,7 @@ TEST_F(FallbacksFixturePropagate, successfulWithMixedSolutions2) {
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t.add(std::make_unique<GeneratorMockup>());
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t.add(std::make_unique<GeneratorMockup>());
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auto fallback = std::make_unique<Fallbacks>("Fallbacks");
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auto fallback = std::make_unique<Fallbacks>("Fallbacks");
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fallback->add(std::make_unique<ForwardMockup>(std::list<double>{ 1.0, INF }, 2));
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fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts({ 1.0, INF }), 2));
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fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts::single(2.0)));
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fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts::single(2.0)));
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t.add(std::move(fallback));
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t.add(std::move(fallback));
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@ -110,7 +110,7 @@ TEST_F(FallbacksFixturePropagate, successfulWithMixedSolutions2) {
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}
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}
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TEST_F(FallbacksFixturePropagate, ActiveChildReset) {
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TEST_F(FallbacksFixturePropagate, ActiveChildReset) {
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t.add(std::make_unique<GeneratorMockup>(PredefinedCosts{ { 1.0, INF, 3.0 } }));
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t.add(std::make_unique<GeneratorMockup>(PredefinedCosts({ 1.0, INF, 3.0 })));
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auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
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auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
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fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(10.0)));
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fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(10.0)));
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