Add empty unit tests for new profiles

Author: rjoomen

tesseract_motion_planners/simple/README.md

@@ -0,0 +1,18 @@
+# SimplePlanner
+
+The SimplePlanner is a simple path interpolator. It is used to generate initial trajectories with a minimum number of waypoints needed for e.g. Trajopt.
+
+## Profiles
+
+Fixed size: fixed number of waypoints between initial waypoints.
+LVS: LVS number of waypoints between initial waypoints.
+Assign: No interpolation, but simple replication of (base/prev?) waypoints. This will allow Trajopt to evolve organically from the start to the goal.
+
+SimplePlannerFixedSizeAssignNoIKMoveProfile
+SimplePlannerFixedSizeAssignMoveProfile
+SimplePlannerFixedSizeNoIKMoveProfile does not exist.
+SimplePlannerFixedSizeMoveProfile
+SimplePlannerLVSAssignNoIKMoveProfile
+SimplePlannerLVSAssignMoveProfile
+SimplePlannerLVSNoIKMoveProfile
+SimplePlannerLVSMoveProfile

tesseract_motion_planners/simple/test/CMakeLists.txt

@@ -18,7 +18,11 @@ macro(add_gtest test_name test_file)
   add_dependencies(run_tests ${test_name})
 endmacro()
 
+add_gtest(${PROJECT_NAME}_simple_planner_fixed_size_assign_move_unit simple_planner_fixed_size_assign_move_unit.cpp)
 add_gtest(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_move_unit
           simple_planner_fixed_size_assign_no_ik_move_unit.cpp)
 add_gtest(${PROJECT_NAME}_simple_planner_fixed_size_move_unit simple_planner_fixed_size_move_unit.cpp)
+add_gtest(${PROJECT_NAME}_simple_planner_lvs_assign_move_unit simple_planner_lvs_assign_move_unit.cpp)
+add_gtest(${PROJECT_NAME}_simple_planner_lvs_assign_no_ik_move_unit simple_planner_lvs_assign_no_ik_move_unit.cpp)
 add_gtest(${PROJECT_NAME}_simple_planner_lvs_move_unit simple_planner_lvs_move_unit.cpp)
+add_gtest(${PROJECT_NAME}_simple_planner_lvs_no_ik_move_unit simple_planner_lvs_no_ik_move_unit.cpp)

tesseract_motion_planners/simple/test/simple_planner_fixed_size_assign_move_unit.cpp

@@ -0,0 +1,46 @@
+/**
+ * @file simple_planner_fixed_size_assign_move_unit.cpp
+ * @brief
+ *
+ * @author Levi Armstrong
+ * @date July 28, 2020
+ * @version TODO
+ * @bug No known bugs
+ *
+ * @copyright Copyright (c) 2020, Southwest Research Institute
+ *
+ * @par License
+ * Software License Agreement (Apache License)
+ * @par
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * @par
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "simple_planner_test_utils.hpp"
+
+#include <tesseract_common/types.h>
+#include <tesseract_motion_planners/core/types.h>
+#include <tesseract_motion_planners/simple/profile/simple_planner_fixed_size_assign_move_profile.h>
+#include <tesseract_command_language/joint_waypoint.h>
+#include <tesseract_command_language/cartesian_waypoint.h>
+#include <tesseract_command_language/move_instruction.h>
+
+using namespace tesseract_planning;
+
+class TesseractPlanningSimplePlannerFixedSizeAssignMoveProfileUnit : public TesseractPlanningSimplePlannerUnit
+{
+};
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}

tesseract_motion_planners/simple/test/simple_planner_lvs_assign_move_unit.cpp

@@ -0,0 +1,46 @@
+/**
+ * @file simple_planner_lvs_assign_move_unit.cpp
+ * @brief Unit tests for SimplePlannerLVSAssignMoveProfile
+ *
+ * @author Levi Armstrong
+ * @date July 28, 2020
+ * @version TODO
+ * @bug No known bugs
+ *
+ * @copyright Copyright (c) 2020, Southwest Research Institute
+ *
+ * @par License
+ * Software License Agreement (Apache License)
+ * @par
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * @par
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "simple_planner_test_utils.hpp"
+
+#include <tesseract_common/types.h>
+#include <tesseract_motion_planners/core/types.h>
+#include <tesseract_motion_planners/simple/profile/simple_planner_lvs_assign_move_profile.h>
+#include <tesseract_command_language/joint_waypoint.h>
+#include <tesseract_command_language/cartesian_waypoint.h>
+#include <tesseract_command_language/move_instruction.h>
+
+using namespace tesseract_planning;
+
+class TesseractPlanningSimplePlannerLVSAssignMoveProfileUnit : public TesseractPlanningSimplePlannerUnit
+{
+};
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}

tesseract_motion_planners/simple/test/simple_planner_lvs_assign_no_ik_move_unit.cpp

@@ -0,0 +1,47 @@
+/**
+ * @file simple_planner_lvs_assign_no_ik_move_unit.cpp
+ * @brief
+ *
+ * @author Levi Armstrong
+ * @date July 28, 2020
+ * @version TODO
+ * @bug No known bugs
+ *
+ * @copyright Copyright (c) 2020, Southwest Research Institute
+ *
+ * @par License
+ * Software License Agreement (Apache License)
+ * @par
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * @par
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "simple_planner_test_utils.hpp"
+
+#include <gtest/gtest.h>
+#include <tesseract_common/types.h>
+#include <tesseract_motion_planners/core/types.h>
+#include <tesseract_motion_planners/simple/profile/simple_planner_lvs_assign_no_ik_move_profile.h>
+#include <tesseract_command_language/joint_waypoint.h>
+#include <tesseract_command_language/cartesian_waypoint.h>
+#include <tesseract_command_language/move_instruction.h>
+
+using namespace tesseract_planning;
+
+class TesseractPlanningSimplePlannerLVSAssignNoIKMoveProfileUnit : public TesseractPlanningSimplePlannerUnit
+{
+};
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}

tesseract_motion_planners/simple/test/simple_planner_lvs_no_ik_move_unit.cpp

@@ -0,0 +1,46 @@
+/**
+ * @file simple_planner_lvs_no_ik_move_unit.cpp
+ * @brief
+ *
+ * @author Matthew Powelson
+ * @date July 23, 2020
+ * @version TODO
+ * @bug No known bugs
+ *
+ * @copyright Copyright (c) 2020, Southwest Research Institute
+ *
+ * @par License
+ * Software License Agreement (Apache License)
+ * @par
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * @par
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "simple_planner_test_utils.hpp"
+
+#include <tesseract_common/types.h>
+#include <tesseract_motion_planners/core/types.h>
+#include <tesseract_motion_planners/simple/profile/simple_planner_lvs_no_ik_move_profile.h>
+#include <tesseract_command_language/joint_waypoint.h>
+#include <tesseract_command_language/cartesian_waypoint.h>
+#include <tesseract_command_language/move_instruction.h>
+
+using namespace tesseract_planning;
+
+class TesseractPlanningSimplePlannerLVSNoIKMoveProfileUnit : public TesseractPlanningSimplePlannerUnit
+{
+};
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}