diff --git a/core/test/test_fallback.cpp b/core/test/test_fallback.cpp index 15e7a0cc..43470e57 100644 --- a/core/test/test_fallback.cpp +++ b/core/test/test_fallback.cpp @@ -17,11 +17,18 @@ using namespace moveit::task_constructor; constexpr double INF = std::numeric_limits::infinity(); -TEST(Fallback, failingNoSolutions) { - resetMockupIds(); +struct TestBase : public testing::Test +{ Task t; - t.setRobotModel(getModel()); + TestBase() { + resetMockupIds(); + t.setRobotModel(getModel()); + } +}; +using FallbacksFixture = TestBase; + +TEST_F(FallbacksFixture, failingNoSolutions) { t.add(std::make_unique(PredefinedCosts::single(0.0))); auto fallback = std::make_unique("Fallbacks"); @@ -33,11 +40,7 @@ TEST(Fallback, failingNoSolutions) { EXPECT_EQ(t.solutions().size(), 0u); } -TEST(Fallback, failingWithFailedSolutions) { - resetMockupIds(); - Task t; - t.setRobotModel(getModel()); - +TEST_F(FallbacksFixture, failingWithFailedSolutions) { t.add(std::make_unique(PredefinedCosts::single(0.0))); auto fallback = std::make_unique("Fallbacks"); @@ -49,11 +52,7 @@ TEST(Fallback, failingWithFailedSolutions) { EXPECT_EQ(t.solutions().size(), 0u); } -TEST(Fallback, DISABLED_ConnectStageInsideFallbacks) { - resetMockupIds(); - Task t; - t.setRobotModel(getModel()); - +TEST_F(FallbacksFixture, DISABLED_ConnectStageInsideFallbacks) { t.add(std::make_unique()); auto fallbacks = std::make_unique("Fallbacks"); @@ -66,11 +65,7 @@ TEST(Fallback, DISABLED_ConnectStageInsideFallbacks) { EXPECT_EQ(t.numSolutions(), 1u); } -TEST(Fallback, ComputeFirstSuccessfulStageOnly) { - resetMockupIds(); - Task t; - t.setRobotModel(getModel()); - +TEST_F(FallbacksFixture, ComputeFirstSuccessfulStageOnly) { t.add(std::make_unique()); auto fallbacks = std::make_unique("Fallbacks"); @@ -82,11 +77,7 @@ TEST(Fallback, ComputeFirstSuccessfulStageOnly) { EXPECT_EQ(t.numSolutions(), 1u); } -TEST(Fallback, ActiveChildReset) { - resetMockupIds(); - Task t; - t.setRobotModel(getModel()); - +TEST_F(FallbacksFixture, ActiveChildReset) { t.add(std::make_unique(PredefinedCosts{ { 0.0, INF, 0.0 } })); auto fallbacks = std::make_unique("Fallbacks");