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Test cases for Fallbacks container #280

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Test cases for Fallbacks container #280

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f2b12f1
add unit tests for Fallbacks container
j-kuehn Jul 8, 2021
f47f9c2
fix ActiveChildReset test / make it fail
v4hn Jul 8, 2021
b98ee7f
Fix test Fallbacks.ComputeFirstSuccessfulStageOnly
rhaschke Jul 13, 2021
514021c
Fix test Fallback.ActiveChildReset
rhaschke Jul 13, 2021
414964a
disable ConnectStageInsideFallbacks
v4hn Jul 26, 2021
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3 changes: 3 additions & 0 deletions core/src/container.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -819,6 +819,9 @@ bool Fallbacks::canCompute() const {
if (child->canCompute())
return true;

if (!Stage::solutions().empty())
return false; // we are done as soon as a child has found solutions

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@v4hn v4hn Jul 26, 2021

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This patch does not make any sense to me.

If the generator in ComputeFirstSuccessfulStageOnly would spawn multiple solutions, I would still expect a solution from the first child for each of the inputs! Otherwise you prune too many computation branches and loose solutions.

// active child failed, continue with next
auto next = child->it();
++next;
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52 changes: 52 additions & 0 deletions core/test/test_container.cpp
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Expand Up @@ -44,6 +44,7 @@ void append(ContainerBase& c, const std::initializer_list<StageType>& types) {
}
}
}
constexpr double INF = std::numeric_limits<double>::infinity();

class NamedStage : public GeneratorMockup
{
Expand Down Expand Up @@ -685,3 +686,54 @@ TEST(Fallback, failing) {
EXPECT_FALSE(t.plan());
EXPECT_EQ(t.solutions().size(), 0u);
}

TEST(Fallback, DISABLED_ConnectStageInsideFallbacks) {
resetMockupIds();
Task t;
t.setRobotModel(getModel());

t.add(std::make_unique<GeneratorMockup>());

auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
fallbacks->add(std::make_unique<ConnectMockup>());
t.add(std::move(fallbacks));

t.add(std::make_unique<GeneratorMockup>());

EXPECT_TRUE(t.plan());
EXPECT_EQ(t.numSolutions(), 1u);
}

TEST(Fallback, ComputeFirstSuccessfulStageOnly) {
resetMockupIds();
Task t;
t.setRobotModel(getModel());

t.add(std::make_unique<GeneratorMockup>());

auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(0.0)));
fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(0.0)));
t.add(std::move(fallbacks));

EXPECT_TRUE(t.plan());
EXPECT_EQ(t.numSolutions(), 1u);
}

TEST(Fallback, ActiveChildReset) {
resetMockupIds();
Task t;
t.setRobotModel(getModel());

t.add(std::make_unique<GeneratorMockup>(PredefinedCosts{ { 0.0, INF, 0.0 } }));

auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(0.0)));
fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(0.0)));
auto first = fallbacks->findChild("FWD1");
t.add(std::move(fallbacks));

EXPECT_TRUE(t.plan());
EXPECT_EQ(t.numSolutions(), 2u);
EXPECT_EQ(first->solutions().size(), 2u);
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@v4hn v4hn Jul 26, 2021

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It seems we agree on how this test should behave. That's good. :)

However, this only succeeds because of https://github.com/ros-planning/moveit_task_constructor/pull/280/files#diff-5b0930974b77eab73f48b74214a60ac0562cd2a110285279bb5ad1094b40a842R822 now (Robert fixes the active child as soon as it produced any solution, even if it can't compute in between). As I do not agree with this patch we are not done here yet.

}