add a test for generator-fallbacks

This commit is contained in:
v4hn 2021-08-18 12:58:28 +02:00
parent f75a498f55
commit b61e045f2c

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@ -17,6 +17,20 @@ using namespace moveit::task_constructor;
constexpr double INF = std::numeric_limits<double>::infinity(); constexpr double INF = std::numeric_limits<double>::infinity();
using FallbacksFixtureGenerator = TaskTestBase;
TEST_F(FallbacksFixtureGenerator, stayWithFirstSuccessful) {
auto fallback = std::make_unique<Fallbacks>("Fallbacks");
fallback->add(std::make_unique<GeneratorMockup>(PredefinedCosts::single(INF)));
fallback->add(std::make_unique<GeneratorMockup>(PredefinedCosts::single(1.0)));
fallback->add(std::make_unique<GeneratorMockup>(PredefinedCosts::single(2.0)));
t.add(std::move(fallback));
EXPECT_TRUE(t.plan());
ASSERT_EQ(t.solutions().size(), 1u);
EXPECT_EQ(t.solutions().front()->cost(), 1.0);
}
using FallbacksFixturePropagate = TaskTestBase; using FallbacksFixturePropagate = TaskTestBase;
TEST_F(FallbacksFixturePropagate, failingNoSolutions) { TEST_F(FallbacksFixturePropagate, failingNoSolutions) {
@ -89,7 +103,7 @@ TEST_F(FallbacksFixturePropagate, ActiveChildReset) {
using FallbacksFixtureConnect = TaskTestBase; using FallbacksFixtureConnect = TaskTestBase;
TEST_F(FallbacksFixtureConnect, DISABLED_ConnectStageInsideFallbacks) { TEST_F(FallbacksFixtureConnect, ConnectStageInsideFallbacks) {
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");