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v4hnv4hn
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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
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5 files changed

+147
-134
lines changed

5 files changed

+147
-134
lines changed

‎core/test/CMakeLists.txt‎

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@@ -25,6 +25,7 @@ if (CATKIN_ENABLE_TESTING)
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mtc_add_gtest(test_stage.cpp)
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mtc_add_gtest(test_container.cpp)
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mtc_add_gtest(test_serial.cpp)
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mtc_add_gtest(test_pruning.cpp)
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mtc_add_gtest(test_properties.cpp)
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mtc_add_gtest(test_cost_terms.cpp)
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‎core/test/stage_mockups.h‎

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@@ -1,6 +1,7 @@
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#pragma once
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#include <moveit/task_constructor/task.h>
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#include <moveit/task_constructor/cost_terms.h>
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#include <moveit/planning_scene/planning_scene.h>
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@@ -31,6 +32,8 @@ struct PredefinedCosts : CostTerm
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double operator()(const WrappedSolution& /*s*/, std::string& /*comment*/) const override { return cost(); }
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};
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constexpr double INF{ std::numeric_limits<double>::infinity() };
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struct GeneratorMockup : public Generator
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{
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planning_scene::PlanningScenePtr ps_;

‎core/test/test_fallback.cpp‎

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@@ -15,8 +15,6 @@
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using namespace moveit::task_constructor;
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constexpr double INF = std::numeric_limits<double>::infinity();
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using FallbacksFixtureGenerator = TaskTestBase;
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TEST_F(FallbacksFixtureGenerator, DISABLED_stayWithFirstSuccessful) {

‎core/test/test_pruning.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,143 @@
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#include <moveit/task_constructor/task.h>
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#include "stage_mockups.h"
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#include "models.h"
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#include <list>
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#include <memory>
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#include <gtest/gtest.h>
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using namespace moveit::task_constructor;
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using Pruning = TaskTestBase;
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TEST_F(Pruning, PropagatorFailure) {
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auto back = add(t, new BackwardMockup());
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add(t, new GeneratorMockup({ 0 }));
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add(t, new ForwardMockup({ INF }));
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EXPECT_FALSE(t.plan());
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ASSERT_EQ(t.solutions().size(), 0u);
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// ForwardMockup fails, so the backward stage should never compute
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EXPECT_EQ(back->runs_, 0u);
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}
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TEST_F(Pruning, PruningMultiForward) {
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add(t, new BackwardMockup());
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add(t, new BackwardMockup());
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add(t, new GeneratorMockup());
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// spawn two solutions for the only incoming state
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add(t, new ForwardMockup(PredefinedCosts{ { 0.0, 0.0 } }, 2));
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// fail to extend the second solution
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add(t, new ForwardMockup({ 0, INF }));
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EXPECT_TRUE(t.plan());
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// the second (infeasible) solution in the last stage must not disable
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// the earlier partial solution just because they share stage solutions
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ASSERT_EQ(t.solutions().size(), 1u);
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EXPECT_EQ((*t.solutions().begin())->cost(), 0u);
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}
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TEST_F(Pruning, ConnectConnectForward) {
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add(t, new GeneratorMockup());
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auto c1 = add(t, new ConnectMockup({ INF, 0, 0 })); // 1st attempt is a failue
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add(t, new GeneratorMockup({ 0, 10, 20 }));
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add(t, new ForwardMockup());
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auto c2 = add(t, new ConnectMockup());
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add(t, new GeneratorMockup({ 1, 2, 3 }));
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t.plan();
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ASSERT_EQ(t.solutions().size(), 3u * 2u);
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std::vector<double> expected_costs = { 11, 12, 13, 21, 22, 23 };
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auto expected_cost = expected_costs.begin();
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for (const auto& s : t.solutions()) {
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EXPECT_EQ(s->cost(), *expected_cost);
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++expected_cost;
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}
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EXPECT_EQ(c1->runs_, 3u);
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EXPECT_EQ(c2->runs_, 6u); // expect 6 instead of 9 calls
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}
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TEST_F(Pruning, ConnectConnectBackward) {
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add(t, new GeneratorMockup({ 1, 2, 3 }));
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auto c1 = add(t, new ConnectMockup());
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add(t, new BackwardMockup());
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add(t, new GeneratorMockup({ 0, INF, 10, 20 })); // 2nd is a dummy to postpone creation of 3rd
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auto c2 = add(t, new ConnectMockup({ INF, 0, 0, 0 })); // 1st attempt is a failure
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add(t, new GeneratorMockup());
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t.plan();
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ASSERT_EQ(t.solutions().size(), 3u * 2u);
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std::vector<double> expected_costs = { 11, 12, 13, 21, 22, 23 };
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auto expected_cost = expected_costs.begin();
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for (const auto& s : t.solutions()) {
78+
EXPECT_EQ(s->cost(), *expected_cost);
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++expected_cost;
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}
81+
EXPECT_EQ(c1->runs_, 6u); // expect 6 instead of 9 calls
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EXPECT_EQ(c2->runs_, 3u);
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}
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TEST_F(Pruning, PropagateIntoContainer) {
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add(t, new BackwardMockup({ INF }));
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add(t, new GeneratorMockup({ 0 }));
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auto inner = add(t, new SerialContainer());
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auto con = add(*inner, new ConnectMockup());
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add(*inner, new GeneratorMockup({ 0 }));
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EXPECT_FALSE(t.plan());
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// the failure in the backward stage (outside the container)
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// should prune the expected computation of con inside the container
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EXPECT_EQ(con->runs_, 0u);
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}
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TEST_F(Pruning, PropagateFromContainerPull) {
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auto back = add(t, new BackwardMockup());
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add(t, new BackwardMockup());
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add(t, new GeneratorMockup({ 0 }));
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auto inner = add(t, new SerialContainer());
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add(*inner, new ForwardMockup());
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add(*inner, new ForwardMockup({ INF }));
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EXPECT_FALSE(t.plan());
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// the failure inside the container should prune computing of back
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EXPECT_EQ(back->runs_, 0u);
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}
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TEST_F(Pruning, PropagateFromContainerPush) {
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auto inner = add(t, new SerialContainer());
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add(*inner, new BackwardMockup({ INF }));
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add(t, new GeneratorMockup({ 0 }));
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auto con = add(t, new ConnectMockup());
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add(t, new GeneratorMockup({ 0 }));
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EXPECT_FALSE(t.plan());
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// the failure inside container should prune computing of con
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EXPECT_EQ(con->runs_, 0u);
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}
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TEST_F(Pruning, PropagateFromParallelContainerMultiplePaths) {
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auto back = add(t, new BackwardMockup());
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add(t, new GeneratorMockup({ 0 }));
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auto inner = add(t, new Alternatives());
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add(*inner, new ForwardMockup({ INF }));
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auto serial = add(*inner, new SerialContainer());
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add(*serial, new ConnectMockup());
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add(*serial, new GeneratorMockup({ 0 }));
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EXPECT_TRUE(t.plan());
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// the failure in one branch of Alternatives must not prune computing back
142+
EXPECT_EQ(back->runs_, 1u);
143+
}

‎core/test/test_serial.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -39,7 +39,6 @@ struct Connect : stages::Connect
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}
4040
};
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42-
constexpr double INF = std::numeric_limits<double>::infinity();
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unsigned int Connect::id_ = 0;
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4544
struct TestBase : public TaskTestBase
@@ -77,134 +76,3 @@ TEST_F(ConnectConnect, FailSucc) {
7776

7877
EXPECT_FALSE(t.plan());
7978
}
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81-
using Pruning = TestBase;
82-
TEST_F(Pruning, PropagatorFailure) {
83-
auto back = add(t, new BackwardMockup());
84-
add(t, new GeneratorMockup({ 0 }));
85-
add(t, new ForwardMockup({ INF }));
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87-
EXPECT_FALSE(t.plan());
88-
ASSERT_EQ(t.solutions().size(), 0u);
89-
// ForwardMockup fails, so the backward stage should never compute
90-
EXPECT_EQ(back->runs_, 0u);
91-
}
92-
93-
TEST_F(Pruning, PruningMultiForward) {
94-
add(t, new BackwardMockup());
95-
add(t, new BackwardMockup());
96-
add(t, new GeneratorMockup());
97-
// spawn two solutions for the only incoming state
98-
add(t, new ForwardMockup(PredefinedCosts{ { 0.0, 0.0 } }, 2));
99-
// fail to extend the second solution
100-
add(t, new ForwardMockup({ 0, INF }));
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102-
EXPECT_TRUE(t.plan());
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// the second (infeasible) solution in the last stage must not disable
105-
// the earlier partial solution just because they share stage solutions
106-
ASSERT_EQ(t.solutions().size(), 1u);
107-
EXPECT_EQ((*t.solutions().begin())->cost(), 0u);
108-
}
109-
110-
TEST_F(Pruning, ConnectConnectForward) {
111-
add(t, new GeneratorMockup());
112-
auto c1 = add(t, new Connect({ INF, 0 })); // 1st attempt is a failue
113-
add(t, new GeneratorMockup({ 0, 10, 20 }));
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add(t, new ForwardMockup());
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auto c2 = add(t, new Connect());
116-
add(t, new GeneratorMockup({ 1, 2, 3 }));
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118-
t.plan();
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120-
ASSERT_EQ(t.solutions().size(), 3u * 2u);
121-
std::vector<double> expected_costs = { 11, 12, 13, 21, 22, 23 };
122-
auto expected_cost = expected_costs.begin();
123-
for (const auto& s : t.solutions()) {
124-
EXPECT_EQ(s->cost(), *expected_cost);
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++expected_cost;
126-
}
127-
EXPECT_EQ(c1->calls_, 3u);
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EXPECT_EQ(c2->calls_, 6u); // expect 6 instead of 9 calls
129-
}
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131-
TEST_F(Pruning, ConnectConnectBackward) {
132-
add(t, new GeneratorMockup({ 1, 2, 3 }));
133-
auto c1 = add(t, new Connect());
134-
add(t, new BackwardMockup());
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add(t, new GeneratorMockup({ 0, INF, 10, 20 })); // 2nd is a dummy to postpone creation of 3rd
136-
auto c2 = add(t, new Connect({ INF, 0 })); // 1st attempt is a failure
137-
add(t, new GeneratorMockup());
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t.plan();
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ASSERT_EQ(t.solutions().size(), 3u * 2u);
142-
std::vector<double> expected_costs = { 11, 12, 13, 21, 22, 23 };
143-
auto expected_cost = expected_costs.begin();
144-
for (const auto& s : t.solutions()) {
145-
EXPECT_EQ(s->cost(), *expected_cost);
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++expected_cost;
147-
}
148-
EXPECT_EQ(c1->calls_, 6u); // expect 6 instead of 9 calls
149-
EXPECT_EQ(c2->calls_, 3u);
150-
}
151-
152-
TEST_F(Pruning, PropagateIntoContainer) {
153-
add(t, new BackwardMockup({ INF }));
154-
add(t, new GeneratorMockup({ 0 }));
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auto inner = add(t, new SerialContainer());
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auto con = add(*inner, new Connect());
158-
add(*inner, new GeneratorMockup({ 0 }));
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160-
EXPECT_FALSE(t.plan());
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// the failure in the backward stage (outside the container)
163-
// should prune the expected computation of con inside the container
164-
EXPECT_EQ(con->calls_, 0u);
165-
}
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167-
TEST_F(Pruning, PropagateFromContainerPull) {
168-
auto back = add(t, new BackwardMockup());
169-
add(t, new BackwardMockup());
170-
add(t, new GeneratorMockup({ 0 }));
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172-
auto inner = add(t, new SerialContainer());
173-
add(*inner, new ForwardMockup());
174-
add(*inner, new ForwardMockup({ INF }));
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176-
EXPECT_FALSE(t.plan());
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178-
// the failure inside the container should prune computing of back
179-
EXPECT_EQ(back->runs_, 0u);
180-
}
181-
182-
TEST_F(Pruning, PropagateFromContainerPush) {
183-
auto inner = add(t, new SerialContainer());
184-
add(*inner, new BackwardMockup({ INF }));
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186-
add(t, new GeneratorMockup({ 0 }));
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auto con = add(t, new Connect());
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add(t, new GeneratorMockup({ 0 }));
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190-
EXPECT_FALSE(t.plan());
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// the failure inside container should prune computing of con
193-
EXPECT_EQ(con->calls_, 0u);
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}
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196-
TEST_F(Pruning, PropagateFromParallelContainerMultiplePaths) {
197-
auto back = add(t, new BackwardMockup());
198-
add(t, new GeneratorMockup({ 0 }));
199-
auto inner = add(t, new Alternatives());
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201-
add(*inner, new ForwardMockup({ INF }));
202-
auto serial = add(*inner, new SerialContainer());
203-
add(*serial, new Connect());
204-
add(*serial, new GeneratorMockup({ 0 }));
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206-
EXPECT_TRUE(t.plan());
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// the failure in one branch of Alternatives must not prune computing back
209-
EXPECT_EQ(back->runs_, 1u);
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}

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