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add a test for generator-fallbacks
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@ -17,6 +17,20 @@ 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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using FallbacksFixtureGenerator = TaskTestBase;
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TEST_F(FallbacksFixtureGenerator, stayWithFirstSuccessful) {
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auto fallback = std::make_unique<Fallbacks>("Fallbacks");
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fallback->add(std::make_unique<GeneratorMockup>(PredefinedCosts::single(INF)));
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fallback->add(std::make_unique<GeneratorMockup>(PredefinedCosts::single(1.0)));
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fallback->add(std::make_unique<GeneratorMockup>(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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using FallbacksFixturePropagate = TaskTestBase;
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using FallbacksFixturePropagate = TaskTestBase;
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TEST_F(FallbacksFixturePropagate, failingNoSolutions) {
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TEST_F(FallbacksFixturePropagate, failingNoSolutions) {
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@ -89,7 +103,7 @@ TEST_F(FallbacksFixturePropagate, ActiveChildReset) {
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using FallbacksFixtureConnect = TaskTestBase;
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using FallbacksFixtureConnect = TaskTestBase;
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TEST_F(FallbacksFixtureConnect, DISABLED_ConnectStageInsideFallbacks) {
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TEST_F(FallbacksFixtureConnect, ConnectStageInsideFallbacks) {
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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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