Added unit tests for ifopt examples

tesseract-robotics · Jan 10, 2024 · bb38344 · bb38344
1 parent 7538d7c
commit bb38344
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Showing 7 changed files with 131 additions and 19 deletions.
diff --git a/.clang-format b/.clang-format
@@ -44,6 +44,9 @@ SpacesBeforeTrailingComments: 2
 SpacesInAngles: false
 SpacesInCStyleCastParentheses: false
 SpacesInParentheses: false
+SpacesInLineCommentPrefix:
+  Minimum: 0
+  Maximum: -1
 Standard: Auto
 TabWidth: 2
 UseTab: Never
@@ -53,15 +56,16 @@ BreakBeforeBraces: Custom
 
 # Control of individual brace wrapping cases
 BraceWrapping: {
-    AfterClass: 'true'
-    AfterControlStatement: 'true'
-    AfterEnum : 'true'
-    AfterFunction : 'true'
-    AfterNamespace : 'true'
-    AfterStruct : 'true'
-    AfterUnion : 'true'
-    BeforeCatch : 'true'
-    BeforeElse : 'true'
-    IndentBraces : 'false'
+    AfterCaseLabel: 'true',
+    AfterClass: 'true',
+    AfterControlStatement: 'true',
+    AfterEnum : 'true',
+    AfterFunction : 'true',
+    AfterNamespace : 'true',
+    AfterStruct : 'true',
+    AfterUnion : 'true',
+    BeforeCatch : 'true',
+    BeforeElse : 'true',
+    IndentBraces : 'false',
 }
 ...
diff --git a/.run-clang-format b/.run-clang-format
@@ -1,2 +1,2 @@
 #!/bin/bash
-find . -type d \( -name bullet3_ros -o -name fcl_ros -o -name libccd_ros -o -name gtest_ros -o -name tesseract_ext \) -prune -o -type f -regex '.*\.\(cpp\|hpp\|cc\|cxx\|h\|hxx\)' -exec clang-format-8 -style=file -i {} \;
+find . -type d \( -name bullet3_ros -o -name fcl_ros -o -name libccd_ros -o -name gtest_ros -o -name tesseract_ext \) -prune -o -type f -regex '.*\.\(cpp\|hpp\|cc\|cxx\|h\|hxx\)' -exec clang-format-15 $@ --style=file -i {} \;
diff --git a/tesseract_examples/test/car_seat_example_unit.cpp b/tesseract_examples/test/car_seat_example_unit.cpp
@@ -10,7 +10,7 @@ using namespace tesseract_examples;
 using namespace tesseract_common;
 using namespace tesseract_environment;
 
-TEST(TesseractExamples, CarSeatCppExampleUnit)  // NOLINT
+TEST(TesseractExamples, CarSeatCppTrajOptExampleUnit)  // NOLINT
 {
   auto locator = std::make_shared<TesseractSupportResourceLocator>();
   tesseract_common::fs::path urdf_path =
@@ -21,7 +21,22 @@ TEST(TesseractExamples, CarSeatCppExampleUnit)  // NOLINT
   if (!env->init(urdf_path, srdf_path, locator))
     exit(1);
 
-  CarSeatExample example(env, nullptr);
+  CarSeatExample example(env, nullptr, false, false);
+  EXPECT_TRUE(example.run());
+}
+
+TEST(TesseractExamples, CarSeatCppTrajOptIfoptExampleUnit)  // NOLINT
+{
+  auto locator = std::make_shared<TesseractSupportResourceLocator>();
+  tesseract_common::fs::path urdf_path =
+      locator->locateResource("package://tesseract_support/urdf/car_seat_demo.urdf")->getFilePath();
+  tesseract_common::fs::path srdf_path =
+      locator->locateResource("package://tesseract_support/urdf/car_seat_demo.srdf")->getFilePath();
+  auto env = std::make_shared<Environment>();
+  if (!env->init(urdf_path, srdf_path, locator))
+    exit(1);
+
+  CarSeatExample example(env, nullptr, true, false);
   EXPECT_TRUE(example.run());
 }
 

diff --git a/tesseract_examples/test/freespace_hybrid_example_unit.cpp b/tesseract_examples/test/freespace_hybrid_example_unit.cpp
@@ -0,0 +1,48 @@
+#include <tesseract_common/macros.h>
+TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
+#include <gtest/gtest.h>
+TESSERACT_COMMON_IGNORE_WARNINGS_POP
+
+#include <tesseract_examples/freespace_hybrid_example.h>
+#include <tesseract_support/tesseract_support_resource_locator.h>
+
+using namespace tesseract_examples;
+using namespace tesseract_common;
+using namespace tesseract_environment;
+
+TEST(TesseractExamples, FreespaceHybridTrajOptExampleUnit)  // NOLINT
+{
+  auto locator = std::make_shared<TesseractSupportResourceLocator>();
+  tesseract_common::fs::path urdf_path =
+      locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.urdf")->getFilePath();
+  tesseract_common::fs::path srdf_path =
+      locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.srdf")->getFilePath();
+  auto env = std::make_shared<Environment>();
+  if (!env->init(urdf_path, srdf_path, locator))
+    exit(1);
+
+  FreespaceHybridExample example(env, nullptr, false, false);
+  EXPECT_TRUE(example.run());
+}
+
+TEST(TesseractExamples, FreespaceHybridTrajOptIfoptExampleUnit)  // NOLINT
+{
+  auto locator = std::make_shared<TesseractSupportResourceLocator>();
+  tesseract_common::fs::path urdf_path =
+      locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.urdf")->getFilePath();
+  tesseract_common::fs::path srdf_path =
+      locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.srdf")->getFilePath();
+  auto env = std::make_shared<Environment>();
+  if (!env->init(urdf_path, srdf_path, locator))
+    exit(1);
+
+  FreespaceHybridExample example(env, nullptr, true, false);
+  EXPECT_TRUE(example.run());
+}
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}
diff --git a/tesseract_examples/test/pick_and_place_example_unit.cpp b/tesseract_examples/test/pick_and_place_example_unit.cpp
@@ -10,7 +10,7 @@ using namespace tesseract_examples;
 using namespace tesseract_common;
 using namespace tesseract_environment;
 
-TEST(TesseractExamples, PickAndPlaceCppExampleUnit)  // NOLINT
+TEST(TesseractExamples, PickAndPlaceCppTrajOptExampleUnit)  // NOLINT
 {
   auto locator = std::make_shared<TesseractSupportResourceLocator>();
   tesseract_common::fs::path urdf_path =
@@ -21,7 +21,22 @@ TEST(TesseractExamples, PickAndPlaceCppExampleUnit)  // NOLINT
   if (!env->init(urdf_path, srdf_path, locator))
     exit(1);
 
-  PickAndPlaceExample example(env, nullptr);
+  PickAndPlaceExample example(env, nullptr, false, false);
+  EXPECT_TRUE(example.run());
+}
+
+TEST(TesseractExamples, PickAndPlaceCppTrajOptIfoptExampleUnit)  // NOLINT
+{
+  auto locator = std::make_shared<TesseractSupportResourceLocator>();
+  tesseract_common::fs::path urdf_path =
+      locator->locateResource("package://tesseract_support/urdf/pick_and_place_plan.urdf")->getFilePath();
+  tesseract_common::fs::path srdf_path =
+      locator->locateResource("package://tesseract_support/urdf/pick_and_place_plan.srdf")->getFilePath();
+  auto env = std::make_shared<Environment>();
+  if (!env->init(urdf_path, srdf_path, locator))
+    exit(1);
+
+  PickAndPlaceExample example(env, nullptr, true, false);
   EXPECT_TRUE(example.run());
 }
 

diff --git a/tesseract_examples/test/puzzle_piece_auxillary_axes_example_unit.cpp b/tesseract_examples/test/puzzle_piece_auxillary_axes_example_unit.cpp
@@ -10,7 +10,7 @@ using namespace tesseract_examples;
 using namespace tesseract_common;
 using namespace tesseract_environment;
 
-TEST(TesseractExamples, DISABLED_PuzzlePieceAuxillaryAxesCppExampleUnit)  // NOLINT
+TEST(TesseractExamples, DISABLED_PuzzlePieceAuxillaryAxesCppTrajOptExampleUnit)  // NOLINT
 {
   auto locator = std::make_shared<TesseractSupportResourceLocator>();
   tesseract_common::fs::path urdf_path =
@@ -21,7 +21,22 @@ TEST(TesseractExamples, DISABLED_PuzzlePieceAuxillaryAxesCppExampleUnit)  // NOL
   if (!env->init(urdf_path, srdf_path, locator))
     exit(1);
 
-  PuzzlePieceAuxillaryAxesExample example(env, nullptr);
+  PuzzlePieceAuxillaryAxesExample example(env, nullptr, false, false);
+  EXPECT_TRUE(example.run());
+}
+
+TEST(TesseractExamples, DISABLED_PuzzlePieceAuxillaryAxesCppTrajOptIfoptExampleUnit)  // NOLINT
+{
+  auto locator = std::make_shared<TesseractSupportResourceLocator>();
+  tesseract_common::fs::path urdf_path =
+      locator->locateResource("package://tesseract_support/urdf/puzzle_piece_workcell.urdf")->getFilePath();
+  tesseract_common::fs::path srdf_path =
+      locator->locateResource("package://tesseract_support/urdf/puzzle_piece_workcell.srdf")->getFilePath();
+  auto env = std::make_shared<Environment>();
+  if (!env->init(urdf_path, srdf_path, locator))
+    exit(1);
+
+  PuzzlePieceAuxillaryAxesExample example(env, nullptr, true, false);
   EXPECT_TRUE(example.run());
 }
 

diff --git a/tesseract_examples/test/puzzle_piece_example_unit.cpp b/tesseract_examples/test/puzzle_piece_example_unit.cpp
@@ -10,7 +10,7 @@ using namespace tesseract_examples;
 using namespace tesseract_common;
 using namespace tesseract_environment;
 
-TEST(TesseractExamples, PuzzlePieceCppExampleUnit)  // NOLINT
+TEST(TesseractExamples, PuzzlePieceCppTrajOptExampleUnit)  // NOLINT
 {
   auto locator = std::make_shared<TesseractSupportResourceLocator>();
   tesseract_common::fs::path urdf_path =
@@ -21,7 +21,22 @@ TEST(TesseractExamples, PuzzlePieceCppExampleUnit)  // NOLINT
   if (!env->init(urdf_path, srdf_path, locator))
     exit(1);
 
-  PuzzlePieceExample example(env, nullptr);
+  PuzzlePieceExample example(env, nullptr, false, false);
+  EXPECT_TRUE(example.run());
+}
+
+TEST(TesseractExamples, PuzzlePieceCppTrajOptIfoptExampleUnit)  // NOLINT
+{
+  auto locator = std::make_shared<TesseractSupportResourceLocator>();
+  tesseract_common::fs::path urdf_path =
+      locator->locateResource("package://tesseract_support/urdf/puzzle_piece_workcell.urdf")->getFilePath();
+  tesseract_common::fs::path srdf_path =
+      locator->locateResource("package://tesseract_support/urdf/puzzle_piece_workcell.srdf")->getFilePath();
+  auto env = std::make_shared<Environment>();
+  if (!env->init(urdf_path, srdf_path, locator))
+    exit(1);
+
+  PuzzlePieceExample example(env, nullptr, true, false);
   EXPECT_TRUE(example.run());
 }