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add unit tests for Fallbacks container
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@ -44,6 +44,7 @@ void append(ContainerBase& c, const std::initializer_list<StageType>& types) {
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}
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}
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}
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constexpr double INF = std::numeric_limits<double>::infinity();
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class NamedStage : public GeneratorMockup
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{
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@ -685,3 +686,52 @@ TEST(Fallback, failing) {
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EXPECT_FALSE(t.plan());
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EXPECT_EQ(t.solutions().size(), 0u);
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}
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TEST(Fallback, ConnectStageInsideFallbacks) {
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resetMockupIds();
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Task t;
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t.setRobotModel(getModel());
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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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fallbacks->add(std::make_unique<ConnectMockup>());
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t.add(std::move(fallbacks));
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t.add(std::make_unique<GeneratorMockup>());
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EXPECT_TRUE(t.plan());
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EXPECT_EQ(t.numSolutions(), 1u);
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}
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TEST(Fallback, ComputeFirstSuccessfulStageOnly) {
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resetMockupIds();
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Task t;
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t.setRobotModel(getModel());
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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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fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(0.0)));
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fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(0.0)));
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t.add(std::move(fallbacks));
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EXPECT_TRUE(t.plan());
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EXPECT_EQ(t.numSolutions(), 1u);
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}
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TEST(Fallback, ActiveChildReset) {
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resetMockupIds();
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Task t;
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t.setRobotModel(getModel());
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t.add(std::make_unique<GeneratorMockup>(PredefinedCosts{ { 0.0, INF, 0.0 } }));
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auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
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fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(0.0)));
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fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(0.0)));
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t.add(std::move(fallbacks));
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EXPECT_TRUE(t.plan());
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EXPECT_EQ(t.numSolutions(), 4u);
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}
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