JafarAbdi
f21c8ccd35
Port core to ROS2
2021-11-25 23:02:51 +03:00
JafarAbdi
2d775ffe28
GeneratorMockup: Add solutions_per_compute argument
2021-11-16 22:51:29 +01:00
v4hn
0f53db5f12
simplify parameter-free lambdas
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I just didn't know the syntax was allowed
2021-11-10 13:33:26 +01:00
Robert Haschke
01d0cf9a13
Extend mtc_add_test() macro to handle rostest as well
2021-11-10 13:14:04 +01:00
v4hn
e1216aa8ab
MoveTo supports attached objects&subframes for ik frame
2021-11-10 13:14:04 +01:00
v4hn
aee76fee5e
add move MoveTo tests
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(partially disabled because broken)
2021-11-10 13:12:21 +01:00
v4hn
86fe752d43
InterpolationPlanner: implement simple IK-based solver for pose targets
2021-11-10 13:12:21 +01:00
v4hn
ef86799f27
add some tests for MoveTo
2021-11-10 13:12:21 +01:00
v4hn
e60a9793f1
fix test helper
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never unload the plugin loader before the plugins (IK plugins here).
We don't have unrelated loaders in gtest executables, so the static should be fine.
2021-11-10 13:12:21 +01:00
v4hn
55e30e26ce
split off pruning tests
...
yes, most pruning happen along children of a serial container,
but children for many tests comprise a lot of other containers as well.
- migrated pruning tests from Connect to ConnectMockup (as the concrete implementation
is not relevant for them)
- added missing header to stage_mockups.h
2021-10-04 23:06:13 +02:00
v4hn
9428c83ba5
consolidate test base
2021-10-04 23:06:13 +02:00
Michael Görner
8b2ac94609
define core tests through macros ( #299 )
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Maybe it makes sense to define this in an exported config,
but then why bother until someone needs it.
2021-10-04 22:27:34 +02:00
Michael Görner
e89c68ced0
Merge pull request #294 from v4hn/pr-fallbacks-split-tests
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new set of fallback tests
2021-09-20 23:13:10 +02:00
v4hn
40b00c61d2
DISABLED_FAILED -> FAILED
...
Failed states are *not* disabled, they just failed connecting (for now).
2021-09-20 23:07:00 +02:00
v4hn
dbfa7e2b8a
disable currently failing tests
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They will be enabled when the corresponding functionality is merged.
2021-09-20 15:11:13 +02:00
Robert Haschke
35dc037365
Add more fallback tests
2021-09-20 14:52:15 +02:00
Robert Haschke
4e0f295d1e
Replace std::list<double>() with PredefinedCosts()
2021-09-20 14:50:13 +02:00
Robert Haschke
61496fecd3
Simplify tests by introducing EXPECT_COSTS()
2021-09-20 14:50:03 +02:00
v4hn
61399d6d23
fixup & extend fallback tests
2021-09-20 14:49:01 +02:00
v4hn
a582fe8297
add another non-trivial test for a reliable fallbacks container
2021-09-20 14:42:55 +02:00
v4hn
b61e045f2c
add a test for generator-fallbacks
2021-09-20 14:42:48 +02:00
v4hn
f75a498f55
fallbacks: add a test to use fallbacks *per state*
...
The current implementation will not fall back for each state
independently, but is meant to stay with the first child producing
a solution. For propagators, this is problematic though
as the picked child depends on the (arbitrary) first received state.
Instead, fallbacks should pass each state to each child separately
until one produces a solution for it (or all are exhausted).
2021-09-20 14:42:42 +02:00
v4hn
2bee9d5f66
rearrange fallback test fixtures
2021-09-20 14:42:35 +02:00
v4hn
5d9efc3b2b
fallback tests: use fixture
2021-09-20 14:42:26 +02:00
v4hn
001eadaf3d
move fallback to separate test
2021-09-20 14:42:20 +02:00
v4hn
14380c5552
add another test to cover both cases for failing children
2021-09-20 14:42:14 +02:00
v4hn
3244ac92b1
disable ConnectStageInsideFallbacks
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This should work, but will require more changes.
2021-09-20 14:42:08 +02:00
Robert Haschke
c6cdd1a970
Fix test Fallback.ActiveChildReset
2021-09-20 14:41:51 +02:00
j-kuehn
f6eadb3fc4
add unit tests for Fallbacks container
2021-09-20 14:41:42 +02:00
v4hn
74d33c4ec0
Merge different mockup implementations
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Co-authored-by: Jascha Kühn <57101356+j-kuehn@users.noreply.github.com>
2021-07-07 14:25:42 +02:00
v4hn
4b1f240c21
test_container: correctly initialize robot_model
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The local mocks do not care, but leaving a dangling nullptr
leads to segfaults with refactoring/new tests. :-)
2021-07-07 14:25:42 +02:00
v4hn
0e40b464ec
support TYPED_TEST_SUITE
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Get rid of deprecation warning if new variant exists.
2021-06-04 14:19:52 +02:00
v4hn
9d53987e53
satisfy clang-tidy & -Werror -Wall -Wextra
2021-06-04 14:19:52 +02:00
Robert Haschke
437cc550f2
Add missing semicolons after cleanup of MoveIt
2021-05-29 00:38:43 +02:00
v4hn
059a939203
Fix test: correctly reset Interface
2021-05-28 00:20:07 +02:00
v4hn
58b1a020b5
Fix memory leak in unit test
2021-05-28 00:19:45 +02:00
v4hn
7eb8fad57e
remove unused helper method
2021-05-12 19:21:19 +02:00
v4hn
f7015ee021
fix pick_ur5 test
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TAMS' models changed and often produces less solutions.
2021-05-12 19:21:19 +02:00
Robert Haschke
cfcb1f274e
Fix more clang-tidy issues
2021-04-24 02:12:24 +02:00
Robert Haschke
4fa8c10f44
clang-tidy auto-fixes
2021-04-24 02:03:24 +02:00
Robert Haschke
889b61529b
Fix trailing white space
2021-04-23 23:49:50 +02:00
Robert Haschke
dc8cd34b86
Simplify tests
2021-04-01 00:21:07 +02:00
v4hn
4e09d78239
Implement pruning inside-to-outside of a container
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- Remove public onNewFailure() interface
Moved to ContainerBasePrivate to reuse logic for serial and parallel containers.
- Add tests
2021-04-01 00:19:15 +02:00
v4hn
106c138ef5
Implement pruning inside serial container
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By inefficient inverse lookup.
Also add disabled test for the inverted inference (failure inside should prune outside)
2021-03-30 15:19:49 +02:00
v4hn
3e5e1da429
add (failing) simple pruning test
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to validate propagators do not compute disabled solutions.
It's also good to have a simpler test around than 2 connects.
2021-03-22 14:42:23 +01:00
v4hn
9cf3c01b9a
pruning tests: restructure tests
2021-03-22 14:42:23 +01:00
v4hn
f8f885966e
add failing pruning test for branching propagator
2021-03-22 14:42:23 +01:00
v4hn
bca01e8aa7
rename Status values
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Start and End are already used for an entirely different concept,
so if anyone ever wants to read this code, we should use new terms instead.
Because the source state is the disabled state that *failed* to extend,
triggering the whole subtree to be disabled, I went for the new terms
DISABLED and DISABLED_FAILED.
2021-03-22 14:42:23 +01:00
Robert Haschke
d3864596b6
Replace Priority::enabled() with status()
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The key to pruning in the Connecting stage was the following:
- Don't remove states during pruning, but only disable them.
They might become re-enabled due to further input.
- Distinguish START and END sides of a disabled solution tree to break their symmetry.
The START side from where we started disabling, can be re-enabled by a new partner state in
Connecting, the END side must not. This was important as, otherwise, the states would simply
get re-enabled immediately. The END side only gets re-enabled if the START side actually
connects the whole solution branch.
2021-03-22 14:42:23 +01:00
Robert Haschke
7c6eb1c0f3
Extend unit tests: PruningForward + PruningBackward
2021-03-22 14:42:23 +01:00