add failing pruning test for branching propagator

Author: v4hn

core/test/test_serial.cpp

@@ -57,25 +57,32 @@ struct GeneratorMockup : Generator
 class PropagatorMockup : public PropagatingEitherWay
 {
 	PredefinedCosts costs_;
+	std::size_t solutions_per_compute_;
 
 public:
-	PropagatorMockup(std::initializer_list<double> costs = { 0.0 }) : PropagatingEitherWay(), costs_(false, costs) {}
+	PropagatorMockup(std::initializer_list<double> costs = { 0.0 }, std::size_t solutions_per_compute = 1)
+	  : PropagatingEitherWay(), costs_(false, costs), solutions_per_compute_(solutions_per_compute) {}
 
 	void computeForward(const InterfaceState& from) override {
-		SubTrajectory solution(robot_trajectory::RobotTrajectoryConstPtr(), costs_.cost());
-		sendForward(from, InterfaceState(from.scene()->diff()), std::move(solution));
+		for (std::size_t i = 0; i < solutions_per_compute_; ++i) {
+			SubTrajectory solution(robot_trajectory::RobotTrajectoryConstPtr(), costs_.cost());
+			sendForward(from, InterfaceState(from.scene()->diff()), std::move(solution));
+		}
 	}
 	void computeBackward(const InterfaceState& to) override {
-		SubTrajectory solution(robot_trajectory::RobotTrajectoryConstPtr(), costs_.cost());
-		sendBackward(InterfaceState(to.scene()->diff()), to, std::move(solution));
+		for (std::size_t i = 0; i < solutions_per_compute_; ++i) {
+			SubTrajectory solution(robot_trajectory::RobotTrajectoryConstPtr(), costs_.cost());
+			sendBackward(InterfaceState(to.scene()->diff()), to, std::move(solution));
+		}
 	}
 };
 class ForwardMockup : public PropagatorMockup
 {
 	static unsigned int id_;
 
 public:
-	ForwardMockup(std::initializer_list<double> costs = { 0.0 }) : PropagatorMockup(costs) {
+	ForwardMockup(std::initializer_list<double> costs = { 0.0 }, std::size_t solutions_per_compute = 1)
+	  : PropagatorMockup(costs, solutions_per_compute) {
 		restrictDirection(FORWARD);
 		setName("FW" + std::to_string(++id_));
 	}
@@ -95,7 +102,7 @@ class BackwardMockup : public PropagatorMockup
 struct ForwardDummy : PropagatingForward
 {
 	using PropagatingForward::PropagatingForward;
-	void computeForward(const InterfaceState& from) override {}
+	void computeForward(const InterfaceState& /*from*/) override {}
 };
 
 /* Connect creating solutions with given costs */
@@ -176,6 +183,28 @@ TEST(ConnectConnect, PruningForward) {
 	EXPECT_EQ(c2->calls_, 6u);
 }
 
+TEST(ConnectConnect, PruningMultiForward) {
+	GeneratorMockup::id_ = Connect::id_ = 0;  // reset IDs
+	Task t;
+
+	t.setRobotModel(getModel());
+	t.add(Stage::pointer(new GeneratorMockup()));
+	t.add(Stage::pointer(new Connect()));
+	t.add(Stage::pointer(new BackwardMockup()));
+	/* TODO(v4hn):
+	 * t.add(Stage::pointer(new GeneratorMockup()));
+	 * should be enough instead of the above, but propagators do not even respect ENABLED/DISABLED yet
+	 */
+
+	t.add(Stage::pointer(new GeneratorMockup()));
+	t.add(Stage::pointer(new ForwardMockup({ 0, 0 }, 2)));  // spawn two solutions for the only incoming state
+	t.add(Stage::pointer(new ForwardMockup({ 0, inf })));
+	t.plan();
+
+	ASSERT_EQ(t.solutions().size(), 1);
+	EXPECT_EQ((*t.solutions().begin())->cost(), 0u);
+}
+
 TEST(ConnectConnect, PruningBackward) {
 	GeneratorMockup::id_ = Connect::id_ = 0;  // reset IDs
 	Task t;