fallback tests: use fixture

This commit is contained in:
v4hn 2021-08-18 12:21:12 +02:00
parent 001eadaf3d
commit 5d9efc3b2b

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