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Updated process managers test to use default profile names for all in…
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…structions since only the default profiles were added to the planning server
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@marip8
marip8 committed Jan 9, 2022
1 parent e0ff368 commit 57df7d4
Showing 1 changed file with 25 additions and 25 deletions.
50 changes: 25 additions & 25 deletions tesseract_process_managers/test/tesseract_process_managers_unit.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -139,7 +139,7 @@ TEST_F(TesseractProcessManagerUnit, RasterSimpleMotionPlannerFixedSizeAssignPlan
std::string freespace_profile = DEFAULT_PROFILE_KEY;
std::string process_profile = "PROCESS";

tesseract_planning::CompositeInstruction program = rasterExampleProgram();
tesseract_planning::CompositeInstruction program = rasterExampleProgram(freespace_profile, process_profile);
EXPECT_FALSE(program.getManipulatorInfo().empty());

program.setManipulatorInfo(manip);
Expand Down Expand Up @@ -181,7 +181,7 @@ TEST_F(TesseractProcessManagerUnit, RasterSimpleMotionPlannerLVSPlanProfileTest)
std::string freespace_profile = DEFAULT_PROFILE_KEY;
std::string process_profile = "PROCESS";

tesseract_planning::CompositeInstruction program = rasterExampleProgram();
tesseract_planning::CompositeInstruction program = rasterExampleProgram(freespace_profile, process_profile);
EXPECT_FALSE(program.getManipulatorInfo().empty());

program.setManipulatorInfo(manip);
Expand Down Expand Up @@ -220,7 +220,7 @@ TEST_F(TesseractProcessManagerUnit, RasterSimpleMotionPlannerLVSPlanProfileTest)
TEST_F(TesseractProcessManagerUnit, RasterSimpleMotionPlannerDefaultLVSNoIKPlanProfileTest) // NOLINT
{
std::string freespace_profile = DEFAULT_PROFILE_KEY;
std::string process_profile = "PROCESS";
std::string process_profile = DEFAULT_PROFILE_KEY;

tesseract_planning::CompositeInstruction program = rasterExampleProgram();
EXPECT_FALSE(program.getManipulatorInfo().empty());
Expand Down Expand Up @@ -344,7 +344,7 @@ TEST_F(TesseractProcessManagerUnit, RasterProcessManagerDefaultPlanProfileTest)

// Define the program
std::string freespace_profile = DEFAULT_PROFILE_KEY;
std::string process_profile = "PROCESS";
std::string process_profile = DEFAULT_PROFILE_KEY;

CompositeInstruction program = rasterExampleProgram(freespace_profile, process_profile);
request.instructions = Instruction(program);
Expand Down Expand Up @@ -381,7 +381,7 @@ TEST_F(TesseractProcessManagerUnit, RasterProcessManagerDefaultLVSPlanProfileTes

// Define the program
std::string freespace_profile = DEFAULT_PROFILE_KEY;
std::string process_profile = "PROCESS";
std::string process_profile = DEFAULT_PROFILE_KEY;

CompositeInstruction program = rasterExampleProgram(freespace_profile, process_profile);
request.instructions = Instruction(program);
Expand Down Expand Up @@ -418,7 +418,7 @@ TEST_F(TesseractProcessManagerUnit, RasterGlobalProcessManagerDefaultPlanProfile

// Define the program
std::string freespace_profile = DEFAULT_PROFILE_KEY;
std::string process_profile = "PROCESS";
std::string process_profile = DEFAULT_PROFILE_KEY;

CompositeInstruction program = rasterExampleProgram(freespace_profile, process_profile);
request.instructions = Instruction(program);
Expand Down Expand Up @@ -455,7 +455,7 @@ TEST_F(TesseractProcessManagerUnit, RasterGlobalProcessManagerDefaultLVSPlanProf

// Define the program
std::string freespace_profile = DEFAULT_PROFILE_KEY;
std::string process_profile = "PROCESS";
std::string process_profile = DEFAULT_PROFILE_KEY;

CompositeInstruction program = rasterExampleProgram(freespace_profile, process_profile);
request.instructions = Instruction(program);
Expand Down Expand Up @@ -492,7 +492,7 @@ TEST_F(TesseractProcessManagerUnit, RasterOnlyProcessManagerDefaultPlanProfileTe

// Define the program
std::string freespace_profile = DEFAULT_PROFILE_KEY;
std::string process_profile = "PROCESS";
std::string process_profile = DEFAULT_PROFILE_KEY;

CompositeInstruction program = rasterOnlyExampleProgram(freespace_profile, process_profile);
request.instructions = Instruction(program);
Expand Down Expand Up @@ -529,7 +529,7 @@ TEST_F(TesseractProcessManagerUnit, RasterOnlyProcessManagerDefaultLVSPlanProfil

// Define the program
std::string freespace_profile = DEFAULT_PROFILE_KEY;
std::string process_profile = "PROCESS";
std::string process_profile = DEFAULT_PROFILE_KEY;

CompositeInstruction program = rasterOnlyExampleProgram(freespace_profile, process_profile);
request.instructions = Instruction(program);
Expand Down Expand Up @@ -566,7 +566,7 @@ TEST_F(TesseractProcessManagerUnit, RasterOnlyGlobalProcessManagerDefaultPlanPro

// Define the program
std::string freespace_profile = DEFAULT_PROFILE_KEY;
std::string process_profile = "PROCESS";
std::string process_profile = DEFAULT_PROFILE_KEY;

CompositeInstruction program = rasterOnlyExampleProgram(freespace_profile, process_profile);
request.instructions = Instruction(program);
Expand Down Expand Up @@ -603,7 +603,7 @@ TEST_F(TesseractProcessManagerUnit, RasterOnlyGlobalProcessManagerDefaultLVSPlan

// Define the program
std::string freespace_profile = DEFAULT_PROFILE_KEY;
std::string process_profile = "PROCESS";
std::string process_profile = DEFAULT_PROFILE_KEY;

CompositeInstruction program = rasterOnlyExampleProgram(freespace_profile, process_profile);
request.instructions = Instruction(program);
Expand Down Expand Up @@ -640,7 +640,7 @@ TEST_F(TesseractProcessManagerUnit, RasterDTProcessManagerDefaultPlanProfileTest

// Define the program
std::string freespace_profile = DEFAULT_PROFILE_KEY;
std::string process_profile = "PROCESS";
std::string process_profile = DEFAULT_PROFILE_KEY;

CompositeInstruction program = rasterDTExampleProgram(freespace_profile, process_profile);
request.instructions = Instruction(program);
Expand Down Expand Up @@ -677,7 +677,7 @@ TEST_F(TesseractProcessManagerUnit, RasterDTProcessManagerDefaultLVSPlanProfileT

// Define the program
std::string freespace_profile = DEFAULT_PROFILE_KEY;
std::string process_profile = "PROCESS";
std::string process_profile = DEFAULT_PROFILE_KEY;

CompositeInstruction program = rasterDTExampleProgram(freespace_profile, process_profile);
request.instructions = Instruction(program);
Expand Down Expand Up @@ -714,9 +714,9 @@ TEST_F(TesseractProcessManagerUnit, RasterWAADProcessManagerDefaultPlanProfileTe

// Define the program
std::string freespace_profile = DEFAULT_PROFILE_KEY;
std::string approach_profile = "APPROACH";
std::string process_profile = "PROCESS";
std::string departure_profile = "DEPARTURE";
std::string approach_profile = DEFAULT_PROFILE_KEY;
std::string process_profile = DEFAULT_PROFILE_KEY;
std::string departure_profile = DEFAULT_PROFILE_KEY;

CompositeInstruction program =
rasterWAADExampleProgram(freespace_profile, approach_profile, process_profile, departure_profile);
Expand Down Expand Up @@ -758,9 +758,9 @@ TEST_F(TesseractProcessManagerUnit, RasterWAADProcessManagerDefaultLVSPlanProfil

// Define the program
std::string freespace_profile = DEFAULT_PROFILE_KEY;
std::string approach_profile = "APPROACH";
std::string process_profile = "PROCESS";
std::string departure_profile = "DEPARTURE";
std::string approach_profile = DEFAULT_PROFILE_KEY;
std::string process_profile = DEFAULT_PROFILE_KEY;
std::string departure_profile = DEFAULT_PROFILE_KEY;

CompositeInstruction program =
rasterWAADExampleProgram(freespace_profile, approach_profile, process_profile, departure_profile);
Expand Down Expand Up @@ -802,9 +802,9 @@ TEST_F(TesseractProcessManagerUnit, RasterWAADDTProcessManagerDefaultPlanProfile

// Define the program
std::string freespace_profile = DEFAULT_PROFILE_KEY;
std::string approach_profile = "APPROACH";
std::string process_profile = "PROCESS";
std::string departure_profile = "DEPARTURE";
std::string approach_profile = DEFAULT_PROFILE_KEY;
std::string process_profile = DEFAULT_PROFILE_KEY;
std::string departure_profile = DEFAULT_PROFILE_KEY;

CompositeInstruction program =
rasterWAADDTExampleProgram(freespace_profile, approach_profile, process_profile, departure_profile);
Expand Down Expand Up @@ -846,9 +846,9 @@ TEST_F(TesseractProcessManagerUnit, RasterWAADDTProcessManagerDefaultLVSPlanProf

// Define the program
std::string freespace_profile = DEFAULT_PROFILE_KEY;
std::string approach_profile = "APPROACH";
std::string process_profile = "PROCESS";
std::string departure_profile = "DEPARTURE";
std::string approach_profile = DEFAULT_PROFILE_KEY;
std::string process_profile = DEFAULT_PROFILE_KEY;
std::string departure_profile = DEFAULT_PROFILE_KEY;

CompositeInstruction program =
rasterWAADDTExampleProgram(freespace_profile, approach_profile, process_profile, departure_profile);
Expand Down

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