remove tests that do not test anything

This commit is contained in:
Robert Haschke 2018-03-24 15:24:41 +01:00
parent 9e5e098339
commit 4fcac84d76
5 changed files with 0 additions and 169 deletions

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@ -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})

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@ -1,49 +0,0 @@
#include <ros/ros.h>
#include <moveit/task_constructor/task.h>
#include <moveit/task_constructor/stages/current_state.h>
#include <moveit/task_constructor/stages/cartesian_position_motion.h>
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<stages::CurrentState>("current state") );
{
auto move= std::make_unique<stages::CartesianPositionMotion>("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<stages::CartesianPositionMotion>("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;
}

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@ -1,19 +0,0 @@
#include <ros/ros.h>
#include <moveit/task_constructor/task.h>
#include <moveit/task_constructor/stages/current_state.h>
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<stages::CurrentState>("current state") );
t.plan();
return 0;
}

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@ -1,51 +0,0 @@
#include <moveit/task_constructor/task.h>
#include <moveit/task_constructor/stages/generate_grasp_pose.h>
#include <ros/ros.h>
#include <moveit_msgs/CollisionObject.h>
#include <shape_msgs/SolidPrimitive.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>
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<stages::GenerateGraspPose>("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;
}

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@ -1,38 +0,0 @@
#include <ros/ros.h>
#include <moveit/task_constructor/task.h>
#include <moveit/task_constructor/stages/current_state.h>
#include <moveit/task_constructor/stages/gripper.h>
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<stages::CurrentState>("current state") );
{
auto gripper= std::make_unique<stages::Gripper>("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<stages::Gripper>("close gripper");
gripper->setEndEffector("gripper");
gripper->setTo("closed");
t.add(std::move( gripper ));
}
t.add( std::make_unique<stages::CurrentState>("current state") );
t.plan();
*/
return 0;
}