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Fix the added path index vector merge in PlanningRequestAdapterChain
When merging the `added_path_index` for the different planning request adapters, the `PlanningRequestAdapterChain` was adding them in the wrong order, causing wrong incrementation of the indices. Closes #3463.
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moveit_core/planning_request_adapter/test/test_planning_request_adapter_chain.cpp
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/********************************************************************* | ||
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/* Author: Hugo Laloge */ | ||
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#include <gtest/gtest.h> | ||
#include <moveit/utils/robot_model_test_utils.h> | ||
#include <moveit/planning_request_adapter/planning_request_adapter.h> | ||
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class AppendingPlanningRequestAdapter : public planning_request_adapter::PlanningRequestAdapter | ||
{ | ||
public: | ||
void initialize(ros::NodeHandle const& node_handle) override | ||
{ | ||
} | ||
bool adaptAndPlan(PlannerFn const& planner, planning_scene::PlanningSceneConstPtr const& planning_scene, | ||
planning_interface::MotionPlanRequest const& req, planning_interface::MotionPlanResponse& res, | ||
std::vector<std::size_t>& added_path_index) const override | ||
{ | ||
bool success = planner(planning_scene, req, res); | ||
if (success) | ||
{ | ||
res.trajectory_->addSuffixWayPoint(res.trajectory_->getLastWayPoint(), 1); | ||
added_path_index.push_back(res.trajectory_->getWayPointCount() - 1); | ||
} | ||
return success; | ||
} | ||
}; | ||
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class PrependingPlanningRequestAdapter : public planning_request_adapter::PlanningRequestAdapter | ||
{ | ||
public: | ||
void initialize(ros::NodeHandle const& node_handle) override | ||
{ | ||
} | ||
bool adaptAndPlan(PlannerFn const& planner, planning_scene::PlanningSceneConstPtr const& planning_scene, | ||
planning_interface::MotionPlanRequest const& req, planning_interface::MotionPlanResponse& res, | ||
std::vector<std::size_t>& added_path_index) const override | ||
{ | ||
bool success = planner(planning_scene, req, res); | ||
if (success) | ||
{ | ||
res.trajectory_->addPrefixWayPoint(res.trajectory_->getFirstWayPoint(), 0); | ||
added_path_index.push_back(0); | ||
} | ||
return success; | ||
} | ||
}; | ||
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class PlannerManagerStub : public planning_interface::PlannerManager | ||
{ | ||
public: | ||
PlannerManagerStub(planning_interface::PlanningContextPtr planningContext) | ||
: m_planningContext{ std::move(planningContext) } | ||
{ | ||
} | ||
planning_interface::PlanningContextPtr | ||
getPlanningContext(planning_scene::PlanningSceneConstPtr const& /*planning_scene*/, | ||
planning_interface::MotionPlanRequest const& /*req*/, | ||
moveit_msgs::MoveItErrorCodes& /*error*/) const override | ||
{ | ||
return m_planningContext; | ||
} | ||
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bool canServiceRequest(planning_interface::MotionPlanRequest const& /*req*/) const override | ||
{ | ||
return true; | ||
} | ||
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private: | ||
planning_interface::PlanningContextPtr m_planningContext; | ||
}; | ||
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class PlanningContextStub : public planning_interface::PlanningContext | ||
{ | ||
public: | ||
using planning_interface::PlanningContext::PlanningContext; | ||
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void setTrajectory(robot_trajectory::RobotTrajectoryPtr trajectory) | ||
{ | ||
m_trajectory = std::move(trajectory); | ||
} | ||
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bool solve(planning_interface::MotionPlanResponse& res) override | ||
{ | ||
if (!m_trajectory) | ||
return false; | ||
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res.trajectory_ = m_trajectory; | ||
return true; | ||
} | ||
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bool solve(planning_interface::MotionPlanDetailedResponse& res) override | ||
{ | ||
if (!m_trajectory) | ||
return false; | ||
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res.trajectory_.push_back(m_trajectory); | ||
return true; | ||
} | ||
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bool terminate() override | ||
{ | ||
return true; | ||
} | ||
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void clear() override | ||
{ | ||
} | ||
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private: | ||
robot_trajectory::RobotTrajectoryPtr m_trajectory; | ||
}; | ||
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class PlanningRequestAdapterTests : public testing::Test | ||
{ | ||
protected: | ||
void SetUp() override | ||
{ | ||
robot_model_ = moveit::core::loadTestingRobotModel("panda"); | ||
group_name_ = "panda_arm"; | ||
planning_scene_ = std::make_shared<planning_scene::PlanningScene>(robot_model_); | ||
planning_context_ = std::make_shared<PlanningContextStub>("stub", group_name_); | ||
planner_manager_ = std::make_shared<PlannerManagerStub>(planning_context_); | ||
} | ||
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robot_trajectory::RobotTrajectoryPtr createRandomTrajectory(std::size_t waypointCount) | ||
{ | ||
robot_trajectory::RobotTrajectoryPtr robot_trajectory = | ||
std::make_shared<robot_trajectory::RobotTrajectory>(robot_model_, group_name_); | ||
for (std::size_t i = 0; i < waypointCount; ++i) | ||
robot_trajectory->addSuffixWayPoint(std::make_shared<robot_state::RobotState>(robot_model_), 1.); | ||
return robot_trajectory; | ||
} | ||
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protected: | ||
std::string group_name_; | ||
planning_request_adapter::PlanningRequestAdapterChain sut_; | ||
moveit::core::RobotModelPtr robot_model_; | ||
planning_scene::PlanningScenePtr planning_scene_; | ||
std::shared_ptr<PlanningContextStub> planning_context_; | ||
std::shared_ptr<PlannerManagerStub> planner_manager_; | ||
}; | ||
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TEST_F(PlanningRequestAdapterTests, testMergeAddedPathIndex) | ||
{ | ||
sut_.addAdapter(std::make_shared<AppendingPlanningRequestAdapter>()); | ||
sut_.addAdapter(std::make_shared<PrependingPlanningRequestAdapter>()); | ||
sut_.addAdapter(std::make_shared<AppendingPlanningRequestAdapter>()); | ||
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planning_context_->setTrajectory(createRandomTrajectory(4)); | ||
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planning_interface::MotionPlanRequest req; | ||
req.group_name = group_name_; | ||
planning_interface::MotionPlanResponse res; | ||
std::vector<std::size_t> added_path_index; | ||
sut_.adaptAndPlan(planner_manager_, planning_scene_, req, res, added_path_index); | ||
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ASSERT_EQ(added_path_index.size(), 3); | ||
EXPECT_EQ(added_path_index[0], 0); | ||
EXPECT_EQ(added_path_index[1], 5); | ||
EXPECT_EQ(added_path_index[2], 6); | ||
} | ||
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int main(int argc, char** argv) | ||
{ | ||
testing::InitGoogleTest(&argc, argv); | ||
return RUN_ALL_TESTS(); | ||
} |