consolidate test base

This commit is contained in:
v4hn 2021-09-26 23:56:44 +02:00 committed by Michael Görner
parent 8b2ac94609
commit 9428c83ba5
2 changed files with 72 additions and 77 deletions

View File

@ -127,6 +127,12 @@ struct TaskTestBase : public testing::Test
resetMockupIds();
t.setRobotModel(getModel());
}
template <typename C, typename S>
auto add(C& container, S* stage) -> S* {
container.add(Stage::pointer(stage));
return stage;
}
};
#define EXPECT_COSTS(value, matcher) \

View File

@ -42,36 +42,25 @@ struct Connect : stages::Connect
constexpr double INF = std::numeric_limits<double>::infinity();
unsigned int Connect::id_ = 0;
struct TestBase : public testing::Test
struct TestBase : public TaskTestBase
{
Task task;
TestBase() {
resetMockupIds();
Connect::id_ = 0;
task.setRobotModel(getModel());
}
template <typename C, typename S>
auto add(C& container, S* stage) -> S* {
container.add(Stage::pointer(stage));
return stage;
}
TestBase() { Connect::id_ = 0; }
};
using ConnectConnect = TestBase;
// https://github.com/ros-planning/moveit_task_constructor/issues/182
TEST_F(ConnectConnect, SuccSucc) {
add(task, new GeneratorMockup({ 1.0, 2.0, 3.0 }));
add(task, new Connect());
add(task, new GeneratorMockup({ 10.0, 20.0 }));
add(task, new Connect());
add(task, new GeneratorMockup({ 0.0 }));
add(t, new GeneratorMockup({ 1.0, 2.0, 3.0 }));
add(t, new Connect());
add(t, new GeneratorMockup({ 10.0, 20.0 }));
add(t, new Connect());
add(t, new GeneratorMockup({ 0.0 }));
EXPECT_TRUE(task.plan());
ASSERT_EQ(task.solutions().size(), 3u * 2u);
EXPECT_TRUE(t.plan());
ASSERT_EQ(t.solutions().size(), 3u * 2u);
std::vector<double> expected_costs = { 11, 12, 13, 21, 22, 23 };
auto expected_cost = expected_costs.begin();
for (const auto& s : task.solutions()) {
for (const auto& s : t.solutions()) {
EXPECT_EQ(s->cost(), *expected_cost);
++expected_cost;
}
@ -79,59 +68,59 @@ TEST_F(ConnectConnect, SuccSucc) {
// https://github.com/ros-planning/moveit_task_constructor/issues/218
TEST_F(ConnectConnect, FailSucc) {
add(task, new GeneratorMockup());
add(task, new Connect({ INF }, true));
add(task, new GeneratorMockup());
add(task, new Connect());
add(task, new GeneratorMockup());
add(task, new ForwardMockup(PredefinedCosts::constant(0.0), 0));
add(t, new GeneratorMockup());
add(t, new Connect({ INF }, true));
add(t, new GeneratorMockup());
add(t, new Connect());
add(t, new GeneratorMockup());
add(t, new ForwardMockup(PredefinedCosts::constant(0.0), 0));
EXPECT_FALSE(task.plan());
EXPECT_FALSE(t.plan());
}
using Pruning = TestBase;
TEST_F(Pruning, PropagatorFailure) {
auto back = add(task, new BackwardMockup());
add(task, new GeneratorMockup({ 0 }));
add(task, new ForwardMockup({ INF }));
auto back = add(t, new BackwardMockup());
add(t, new GeneratorMockup({ 0 }));
add(t, new ForwardMockup({ INF }));
EXPECT_FALSE(task.plan());
ASSERT_EQ(task.solutions().size(), 0u);
EXPECT_FALSE(t.plan());
ASSERT_EQ(t.solutions().size(), 0u);
// ForwardMockup fails, so the backward stage should never compute
EXPECT_EQ(back->runs_, 0u);
}
TEST_F(Pruning, PruningMultiForward) {
add(task, new BackwardMockup());
add(task, new BackwardMockup());
add(task, new GeneratorMockup());
add(t, new BackwardMockup());
add(t, new BackwardMockup());
add(t, new GeneratorMockup());
// spawn two solutions for the only incoming state
add(task, new ForwardMockup(PredefinedCosts{ { 0.0, 0.0 } }, 2));
add(t, new ForwardMockup(PredefinedCosts{ { 0.0, 0.0 } }, 2));
// fail to extend the second solution
add(task, new ForwardMockup({ 0, INF }));
add(t, new ForwardMockup({ 0, INF }));
EXPECT_TRUE(task.plan());
EXPECT_TRUE(t.plan());
// the second (infeasible) solution in the last stage must not disable
// the earlier partial solution just because they share stage solutions
ASSERT_EQ(task.solutions().size(), 1u);
EXPECT_EQ((*task.solutions().begin())->cost(), 0u);
ASSERT_EQ(t.solutions().size(), 1u);
EXPECT_EQ((*t.solutions().begin())->cost(), 0u);
}
TEST_F(Pruning, ConnectConnectForward) {
add(task, new GeneratorMockup());
auto c1 = add(task, new Connect({ INF, 0 })); // 1st attempt is a failue
add(task, new GeneratorMockup({ 0, 10, 20 }));
add(task, new ForwardMockup());
auto c2 = add(task, new Connect());
add(task, new GeneratorMockup({ 1, 2, 3 }));
add(t, new GeneratorMockup());
auto c1 = add(t, new Connect({ INF, 0 })); // 1st attempt is a failue
add(t, new GeneratorMockup({ 0, 10, 20 }));
add(t, new ForwardMockup());
auto c2 = add(t, new Connect());
add(t, new GeneratorMockup({ 1, 2, 3 }));
task.plan();
t.plan();
ASSERT_EQ(task.solutions().size(), 3u * 2u);
ASSERT_EQ(t.solutions().size(), 3u * 2u);
std::vector<double> expected_costs = { 11, 12, 13, 21, 22, 23 };
auto expected_cost = expected_costs.begin();
for (const auto& s : task.solutions()) {
for (const auto& s : t.solutions()) {
EXPECT_EQ(s->cost(), *expected_cost);
++expected_cost;
}
@ -140,19 +129,19 @@ TEST_F(Pruning, ConnectConnectForward) {
}
TEST_F(Pruning, ConnectConnectBackward) {
add(task, new GeneratorMockup({ 1, 2, 3 }));
auto c1 = add(task, new Connect());
add(task, new BackwardMockup());
add(task, new GeneratorMockup({ 0, INF, 10, 20 })); // 2nd is a dummy to postpone creation of 3rd
auto c2 = add(task, new Connect({ INF, 0 })); // 1st attempt is a failure
add(task, new GeneratorMockup());
add(t, new GeneratorMockup({ 1, 2, 3 }));
auto c1 = add(t, new Connect());
add(t, new BackwardMockup());
add(t, new GeneratorMockup({ 0, INF, 10, 20 })); // 2nd is a dummy to postpone creation of 3rd
auto c2 = add(t, new Connect({ INF, 0 })); // 1st attempt is a failure
add(t, new GeneratorMockup());
task.plan();
t.plan();
ASSERT_EQ(task.solutions().size(), 3u * 2u);
ASSERT_EQ(t.solutions().size(), 3u * 2u);
std::vector<double> expected_costs = { 11, 12, 13, 21, 22, 23 };
auto expected_cost = expected_costs.begin();
for (const auto& s : task.solutions()) {
for (const auto& s : t.solutions()) {
EXPECT_EQ(s->cost(), *expected_cost);
++expected_cost;
}
@ -161,14 +150,14 @@ TEST_F(Pruning, ConnectConnectBackward) {
}
TEST_F(Pruning, PropagateIntoContainer) {
add(task, new BackwardMockup({ INF }));
add(task, new GeneratorMockup({ 0 }));
add(t, new BackwardMockup({ INF }));
add(t, new GeneratorMockup({ 0 }));
auto inner = add(task, new SerialContainer());
auto inner = add(t, new SerialContainer());
auto con = add(*inner, new Connect());
add(*inner, new GeneratorMockup({ 0 }));
EXPECT_FALSE(task.plan());
EXPECT_FALSE(t.plan());
// the failure in the backward stage (outside the container)
// should prune the expected computation of con inside the container
@ -176,45 +165,45 @@ TEST_F(Pruning, PropagateIntoContainer) {
}
TEST_F(Pruning, PropagateFromContainerPull) {
auto back = add(task, new BackwardMockup());
add(task, new BackwardMockup());
add(task, new GeneratorMockup({ 0 }));
auto back = add(t, new BackwardMockup());
add(t, new BackwardMockup());
add(t, new GeneratorMockup({ 0 }));
auto inner = add(task, new SerialContainer());
auto inner = add(t, new SerialContainer());
add(*inner, new ForwardMockup());
add(*inner, new ForwardMockup({ INF }));
EXPECT_FALSE(task.plan());
EXPECT_FALSE(t.plan());
// the failure inside the container should prune computing of back
EXPECT_EQ(back->runs_, 0u);
}
TEST_F(Pruning, PropagateFromContainerPush) {
auto inner = add(task, new SerialContainer());
auto inner = add(t, new SerialContainer());
add(*inner, new BackwardMockup({ INF }));
add(task, new GeneratorMockup({ 0 }));
auto con = add(task, new Connect());
add(task, new GeneratorMockup({ 0 }));
add(t, new GeneratorMockup({ 0 }));
auto con = add(t, new Connect());
add(t, new GeneratorMockup({ 0 }));
EXPECT_FALSE(task.plan());
EXPECT_FALSE(t.plan());
// the failure inside container should prune computing of con
EXPECT_EQ(con->calls_, 0u);
}
TEST_F(Pruning, PropagateFromParallelContainerMultiplePaths) {
auto back = add(task, new BackwardMockup());
add(task, new GeneratorMockup({ 0 }));
auto inner = add(task, new Alternatives());
auto back = add(t, new BackwardMockup());
add(t, new GeneratorMockup({ 0 }));
auto inner = add(t, new Alternatives());
add(*inner, new ForwardMockup({ INF }));
auto serial = add(*inner, new SerialContainer());
add(*serial, new Connect());
add(*serial, new GeneratorMockup({ 0 }));
EXPECT_TRUE(task.plan());
EXPECT_TRUE(t.plan());
// the failure in one branch of Alternatives must not prune computing back
EXPECT_EQ(back->runs_, 1u);