Michael Görner
7ec874572c
move to tf2_eigen everywhere ( #301 )
2021-10-18 23:34:29 +02:00
v4hn
55e30e26ce
split off pruning tests
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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 )
...
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
Robert Haschke
9da3a8055e
Optimize setStatus(): only escalate to parent interface at boundaries of a partial solution
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In all other cases internalToExternalMap().find(s) will fail anyway.
2021-09-20 23:07:00 +02:00
v4hn
35560d897d
DISABLED -> PRUNED
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This makes the semantics much clearer as states can only be disabled by pruning.
2021-09-20 23:07:00 +02:00
v4hn
d143dd7076
simplify exception handling
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This could have been done already back when `runCompute` was introduced.
Wrapping the calls in try/catch comes from the previous implementation directly
calling `compute()`.
2021-09-20 23:07:00 +02:00
v4hn
1e10aaccfd
Connecting: add another ROS_DEBUG hint
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These can facilitate debugging a lot for little overhead.
2021-09-20 23:07:00 +02:00
v4hn
40b00c61d2
DISABLED_FAILED -> FAILED
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Failed states are *not* disabled, they just failed connecting (for now).
2021-09-20 23:07:00 +02:00
v4hn
3b9f6ee519
add todo
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
Robert Haschke
d0ab3c3703
Improve readability of internal-external bimap using tags ( #293 )
2021-09-16 13:52:34 +02:00
v4hn
06b3df9c30
split assert
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so that it becomes obvious which condition triggered it.
2021-09-01 14:53:52 +02:00
v4hn
fa8d21741c
print debug message in runCompute
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so that it prints from all containers
2021-09-01 14:53:14 +02:00
v4hn
f51f6eb982
address interface changes for object poses in MoveIt
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Also include a check for the new object pose field in `Connecting::compatible()`.
2021-08-23 00:33:37 +02:00
v4hn
0273aec83e
remove dirty MOVEIT_MASTER-check
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... in favor of checking version numbers.
Checking for one header was used for multiple independent things.
In theory we could do exact feature testing instead of using the next release number,
but in practice nobody cares about the individual commits between older releases.
2021-08-23 00:06:42 +02:00
v4hn
6b4eae9d51
ComputeIK: spawn failures with correct states
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Otherwise all failures look correct in the introspection.
That was a stupid oversight at some point.
2021-08-21 22:15:21 +02:00
v4hn
ff86217f9a
do not modify scene in isTargetPoseColliding
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Especially, do not create a custom scene at all.
The method only affects a RobotState.
Fixes https://github.com/ros-planning/moveit_task_constructor/issues/209
2021-08-21 22:15:12 +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
062c127b86
better API comments for StageCallback
2021-06-15 09:49:05 +02:00
Captain Yoshi
64b65e4eca
GenerateGraspPose: Handle RobotState.msg as pregrasp property ( #275 )
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Co-authored-by: v4hn <me@v4hn.de>
2021-06-15 07:51:18 +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
1f51124ae5
add missing virtual destructor to CostTerm
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Correctly pointed out by the clang-tidy CI.
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
Michael Görner
84d668b0d5
Split ClassLoader plugin code from main libraries ( #271 )
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to work around https://github.com/ros/class_loader/issues/131
2021-05-29 00:38:02 +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
Robert Haschke
f070247a25
Fix compiler warnings
2021-05-27 22:24:29 +02:00
j-kuehn
67fe4faa30
allow to consider specific joints only in cost terms
2021-05-25 15:47:18 +02:00
Robert Haschke
84ccd679d9
Fix compiler warnings
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unused parameters and functions
2021-05-19 21:54:48 +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
j-kuehn
d71c645d83
add visualization for Point goals ( #264 )
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- move visualization from `getPoseGoal` to `compute`
- create target frame from `target_eigen` to allow visualization from Pose and Point goals
2021-05-11 10:53:15 +02:00