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https://github.com/moveit/moveit_task_constructor.git
synced 2025-09-27 00:29:13 +08:00
fixup & extend fallback tests
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@ -57,19 +57,6 @@ TEST_F(FallbacksFixturePropagate, failingWithFailedSolutions) {
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EXPECT_EQ(t.solutions().size(), 0u);
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}
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TEST_F(FallbacksFixturePropagate, successfulWithMixedSolutions) {
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t.add(std::make_unique<GeneratorMockup>());
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auto fallback = std::make_unique<Fallbacks>("Fallbacks");
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fallback->add(std::make_unique<ForwardMockup>(std::list<double>{ INF, 1.0 }, 2));
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fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts::single(2.0)));
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t.add(std::move(fallback));
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EXPECT_TRUE(t.plan());
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ASSERT_EQ(t.solutions().size(), 1u);
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EXPECT_EQ(t.solutions().front()->cost(), 1.0);
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}
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TEST_F(FallbacksFixturePropagate, ComputeFirstSuccessfulStageOnly) {
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t.add(std::make_unique<GeneratorMockup>());
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@ -95,9 +82,35 @@ TEST_F(FallbacksFixturePropagate, ComputeFirstSuccessfulStagePerSolutionOnly) {
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EXPECT_TRUE(t.plan());
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EXPECT_EQ(t.numSolutions(), 2u);
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ASSERT_EQ(fwd1->solutions().size(), 1u);
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EXPECT_EQ(fwd1->solutions().front()->cost(), 1.0);
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EXPECT_EQ(fwd1->solutions().front()->start()->priority().cost(), 1.0);
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ASSERT_EQ(fwd2->solutions().size(), 1u);
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EXPECT_EQ(fwd2->solutions().front()->cost(), 0.0);
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EXPECT_EQ(fwd2->solutions().front()->start()->priority().cost(), 0.0);
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}
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TEST_F(FallbacksFixturePropagate, successfulWithMixedSolutions) {
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t.add(std::make_unique<GeneratorMockup>());
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auto fallback = std::make_unique<Fallbacks>("Fallbacks");
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fallback->add(std::make_unique<ForwardMockup>(std::list<double>{ INF, 1.0 }, 2));
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fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts::single(2.0)));
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t.add(std::move(fallback));
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EXPECT_TRUE(t.plan());
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ASSERT_EQ(t.solutions().size(), 1u);
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EXPECT_EQ(t.solutions().front()->cost(), 1.0);
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}
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TEST_F(FallbacksFixturePropagate, successfulWithMixedSolutions2) {
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t.add(std::make_unique<GeneratorMockup>());
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auto fallback = std::make_unique<Fallbacks>("Fallbacks");
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fallback->add(std::make_unique<ForwardMockup>(std::list<double>{ 1.0, INF }, 2));
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fallback->add(std::make_unique<ForwardMockup>(PredefinedCosts::single(2.0)));
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t.add(std::move(fallback));
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EXPECT_TRUE(t.plan());
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ASSERT_EQ(t.solutions().size(), 1u);
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EXPECT_EQ(t.solutions().front()->cost(), 1.0);
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}
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TEST_F(FallbacksFixturePropagate, ActiveChildReset) {
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