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fallback tests: use fixture
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@ -17,11 +17,18 @@ using namespace moveit::task_constructor;
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constexpr double INF = std::numeric_limits<double>::infinity();
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constexpr double INF = std::numeric_limits<double>::infinity();
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TEST(Fallback, failingNoSolutions) {
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struct TestBase : public testing::Test
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resetMockupIds();
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{
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Task t;
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Task t;
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t.setRobotModel(getModel());
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TestBase() {
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resetMockupIds();
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t.setRobotModel(getModel());
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}
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};
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using FallbacksFixture = TestBase;
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TEST_F(FallbacksFixture, 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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@ -33,11 +40,7 @@ TEST(Fallback, failingNoSolutions) {
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EXPECT_EQ(t.solutions().size(), 0u);
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EXPECT_EQ(t.solutions().size(), 0u);
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}
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}
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TEST(Fallback, failingWithFailedSolutions) {
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TEST_F(FallbacksFixture, 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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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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@ -49,11 +52,7 @@ TEST(Fallback, failingWithFailedSolutions) {
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EXPECT_EQ(t.solutions().size(), 0u);
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EXPECT_EQ(t.solutions().size(), 0u);
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}
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}
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TEST(Fallback, DISABLED_ConnectStageInsideFallbacks) {
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TEST_F(FallbacksFixture, DISABLED_ConnectStageInsideFallbacks) {
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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>());
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t.add(std::make_unique<GeneratorMockup>());
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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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@ -66,11 +65,7 @@ TEST(Fallback, DISABLED_ConnectStageInsideFallbacks) {
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EXPECT_EQ(t.numSolutions(), 1u);
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EXPECT_EQ(t.numSolutions(), 1u);
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}
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}
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TEST(Fallback, ComputeFirstSuccessfulStageOnly) {
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TEST_F(FallbacksFixture, ComputeFirstSuccessfulStageOnly) {
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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>());
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t.add(std::make_unique<GeneratorMockup>());
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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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@ -82,11 +77,7 @@ TEST(Fallback, ComputeFirstSuccessfulStageOnly) {
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EXPECT_EQ(t.numSolutions(), 1u);
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EXPECT_EQ(t.numSolutions(), 1u);
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}
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}
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TEST(Fallback, ActiveChildReset) {
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TEST_F(FallbacksFixture, ActiveChildReset) {
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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{ { 0.0, INF, 0.0 } }));
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t.add(std::make_unique<GeneratorMockup>(PredefinedCosts{ { 0.0, INF, 0.0 } }));
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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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