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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Rice University
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Rice University nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ioan Sucan */
#include "ompl/base/Planner.h"
#include <boost/test/unit_test.hpp>
namespace ompl
{
namespace base
{
/** \brief Encapsulate basic tests for planners. This class
should be used for every planner included with ompl, to
ensure basic functionality works. */
class PlannerTest
{
public:
/** \brief Construct a testing setup for planner \e planner */
PlannerTest(const PlannerPtr &planner) : planner_(planner)
{
}
~PlannerTest()
{
}
/** \brief Test that solve() and clear() work as expected */
void testSolveAndClear()
{
planner_->clear();
bool solved = planner_->solve(timedPlannerTerminationCondition(1.0));
BOOST_CHECK(solved);
planner_->clear();
solved = planner_->solve(timedPlannerTerminationCondition(1.0));
BOOST_CHECK(solved);
solved = planner_->solve(timedPlannerTerminationCondition(1.0));
BOOST_CHECK(solved);
planner_->clear();
planner_->solve(plannerAlwaysTerminatingCondition());
planner_->solve(0.001);
planner_->solve(0.01);
solved = planner_->solve(0.1);
if (!solved)
solved = planner_->solve(timedPlannerTerminationCondition(1.0));
BOOST_CHECK(solved);
planner_->clear();
planner_->clear();
planner_->clear();
planner_->getProblemDefinition()->isStraightLinePathValid();
}
/** \brief Call all tests for the planner */
void test()
{
testSolveAndClear();
}
private:
PlannerPtr planner_;
};
}
}
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