From 4fcac84d760a76689655df7306634294324489cf Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Sat, 24 Mar 2018 15:24:41 +0100 Subject: [PATCH] remove tests that do not test anything --- core/test/CMakeLists.txt | 12 ----- core/test/test_plan_cartesian_forward.cpp | 49 -------------------- core/test/test_plan_current_state.cpp | 19 -------- core/test/test_plan_generate_grasp_pose.cpp | 51 --------------------- core/test/test_plan_gripper.cpp | 38 --------------- 5 files changed, 169 deletions(-) delete mode 100644 core/test/test_plan_cartesian_forward.cpp delete mode 100644 core/test/test_plan_current_state.cpp delete mode 100644 core/test/test_plan_generate_grasp_pose.cpp delete mode 100644 core/test/test_plan_gripper.cpp diff --git a/core/test/CMakeLists.txt b/core/test/CMakeLists.txt index a5920600..181b7256 100644 --- a/core/test/CMakeLists.txt +++ b/core/test/CMakeLists.txt @@ -21,15 +21,3 @@ if (CATKIN_ENABLE_TESTING) catkin_add_gtest(${PROJECT_NAME}-test-cost_queue test_cost_queue.cpp) target_link_libraries(${PROJECT_NAME}-test-cost_queue ${PROJECT_NAME} gtest_main) endif() - -add_executable(test_plan_current_state test_plan_current_state.cpp) -target_link_libraries(test_plan_current_state ${PROJECT_NAME}_stages ${PROJECT_NAME}) - -add_executable(test_plan_gripper test_plan_gripper.cpp) -target_link_libraries(test_plan_gripper ${PROJECT_NAME}_stages ${PROJECT_NAME}) - -add_executable(test_plan_generate_grasp_pose test_plan_generate_grasp_pose.cpp) -target_link_libraries(test_plan_generate_grasp_pose ${PROJECT_NAME}_stages ${PROJECT_NAME}) - -add_executable(test_plan_cartesian_forward test_plan_cartesian_forward.cpp) -target_link_libraries(test_plan_cartesian_forward ${PROJECT_NAME}_stages ${PROJECT_NAME}) diff --git a/core/test/test_plan_cartesian_forward.cpp b/core/test/test_plan_cartesian_forward.cpp deleted file mode 100644 index b3ec1377..00000000 --- a/core/test/test_plan_cartesian_forward.cpp +++ /dev/null @@ -1,49 +0,0 @@ -#include - -#include - -#include -#include - -using namespace moveit::task_constructor; - -int main(int argc, char** argv){ - ros::init(argc, argv, "test_plan_current_state"); - - Task t; - - t.add( std::make_unique("current state") ); - - { - auto move= std::make_unique("lift object"); - move->setGroup("arm"); - move->setLink("s_model_tool0"); - move->setMinMaxDistance(0.05, 0.2); - move->setCartesianStepSize(0.05); - - geometry_msgs::Vector3Stamped direction; - direction.header.frame_id= "world"; - direction.vector.x= 1.0; - move->along(direction); - t.add(std::move(move)); - } - - { - auto move= std::make_unique("lift object"); - move->setGroup("arm"); - move->setLink("s_model_tool0"); - move->setMinDistance(0.01); - move->setCartesianStepSize(0.01); - - geometry_msgs::PointStamped target; - target.header.frame_id= "world"; - target.point.y= 0.7; - target.point.z= 1.5; - move->towards(target); - t.add(std::move(move)); - } - - t.plan(); - - return 0; -} diff --git a/core/test/test_plan_current_state.cpp b/core/test/test_plan_current_state.cpp deleted file mode 100644 index b9eb474b..00000000 --- a/core/test/test_plan_current_state.cpp +++ /dev/null @@ -1,19 +0,0 @@ -#include - -#include - -#include - -using namespace moveit::task_constructor; - -int main(int argc, char** argv){ - ros::init(argc, argv, "test_plan_current_state"); - - Task t; - - t.add( std::make_unique("current state") ); - - t.plan(); - - return 0; -} diff --git a/core/test/test_plan_generate_grasp_pose.cpp b/core/test/test_plan_generate_grasp_pose.cpp deleted file mode 100644 index 9259d093..00000000 --- a/core/test/test_plan_generate_grasp_pose.cpp +++ /dev/null @@ -1,51 +0,0 @@ -#include -#include - -#include -#include -#include - -#include - -using namespace moveit::task_constructor; - -void spawnObject(){ - moveit::planning_interface::PlanningSceneInterface psi; - - moveit_msgs::CollisionObject o; - o.id= "object"; - o.header.frame_id= "world"; - o.primitive_poses.resize(1); - o.primitive_poses[0].position.x= 0.53; - o.primitive_poses[0].position.y= 0.55; - o.primitive_poses[0].position.z= 0.84; - o.primitive_poses[0].orientation.w= 1.0; - o.primitives.resize(1); - o.primitives[0].type= shape_msgs::SolidPrimitive::SPHERE; - o.primitives[0].dimensions.resize(1, 0.03); - psi.applyCollisionObject(o); -} - - -int main(int argc, char** argv){ - ros::init(argc, argv, "test_plan_current_state"); - ros::AsyncSpinner spinner(1); - spinner.start(); - - spawnObject(); - - Task t; - - auto st= std::make_unique("generate grasp candidates"); - - st->setEndEffector("gripper"); - st->setObject("object"); - st->setAngleDelta(0.1); - st->setToolToGraspTF(Eigen::Translation3d(.03,0,0)); - - t.add(std::move(st)); - - t.plan(); - - return 0; -} diff --git a/core/test/test_plan_gripper.cpp b/core/test/test_plan_gripper.cpp deleted file mode 100644 index 42bc19d8..00000000 --- a/core/test/test_plan_gripper.cpp +++ /dev/null @@ -1,38 +0,0 @@ -#include - -#include - -#include -#include - -using namespace moveit::task_constructor; - -int main(int argc, char** argv){ - ros::init(argc, argv, "test_plan_gripper"); - ros::AsyncSpinner spinner(1); - spinner.start(); - - Task t; - - t.add( std::make_unique("current state") ); - { - auto gripper= std::make_unique("close gripper"); - gripper->setEndEffector("gripper"); - gripper->setTo("closed"); - t.add(std::move( gripper )); - } - t.plan(); - - /*TODO currently not implemented in gripper*/ - /* - { - auto gripper= std::make_unique("close gripper"); - gripper->setEndEffector("gripper"); - gripper->setTo("closed"); - t.add(std::move( gripper )); - } - t.add( std::make_unique("current state") ); - t.plan(); - */ - return 0; -}