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unittest for Priority comparisons
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@ -20,4 +20,7 @@ if (CATKIN_ENABLE_TESTING)
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catkin_add_gtest(${PROJECT_NAME}-test-cost_queue test_cost_queue.cpp)
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target_link_libraries(${PROJECT_NAME}-test-cost_queue ${PROJECT_NAME} gtest_main)
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catkin_add_gtest(${PROJECT_NAME}-test-interface_state test_interface_state.cpp)
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target_link_libraries(${PROJECT_NAME}-test-interface_state ${PROJECT_NAME} gtest_main)
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endif()
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19
core/test/test_interface_state.cpp
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19
core/test/test_interface_state.cpp
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@ -0,0 +1,19 @@
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#include <list>
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#include <moveit/task_constructor/storage.h>
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#include <gtest/gtest.h>
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using namespace moveit::task_constructor;
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TEST(InterfaceStatePriority, compare) {
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typedef InterfaceState::Priority Prio;
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const double inf = std::numeric_limits<double>::infinity();
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EXPECT_TRUE(Prio(0, 0) == Prio(0, 0));
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EXPECT_TRUE(Prio(0, inf) == Prio(0, inf));
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EXPECT_TRUE(Prio(1, 0) < Prio(0, 0)); // higher depth is smaller
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EXPECT_TRUE(Prio(1, inf) < Prio(0, inf));
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EXPECT_TRUE(Prio(0, 0) < Prio(0, 1)); // higher cost is larger
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EXPECT_TRUE(Prio(0, 0) < Prio(0, inf));
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EXPECT_TRUE(Prio(0, inf) > Prio(0, 0));
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}
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