Refactor tests to match profile names

tesseract-robotics · Dec 4, 2024 · 8d4374b · 8d4374b
1 parent 984189a
commit 8d4374b
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Showing 4 changed files with 58 additions and 60 deletions.
diff --git a/tesseract_motion_planners/simple/test/CMakeLists.txt b/tesseract_motion_planners/simple/test/CMakeLists.txt
@@ -1,62 +1,60 @@
 find_package(tesseract_command_language REQUIRED)
 
 # SimplePlanner Tests
-add_executable(${PROJECT_NAME}_simple_planner_fixed_size_interpolation_unit simple_planner_fixed_size_interpolation.cpp)
-target_link_libraries(${PROJECT_NAME}_simple_planner_fixed_size_interpolation_unit PRIVATE GTest::GTest GTest::Main
-                                                                                           ${PROJECT_NAME}_simple)
-target_compile_options(${PROJECT_NAME}_simple_planner_fixed_size_interpolation_unit
+add_executable(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit
+               simple_planner_fixed_size_assign_no_ik_plan_unit.cpp)
+target_link_libraries(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit PRIVATE GTest::GTest GTest::Main
+                                                                                               ${PROJECT_NAME}_simple)
+target_compile_options(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit
                        PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE} ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
-target_compile_definitions(${PROJECT_NAME}_simple_planner_fixed_size_interpolation_unit
+target_compile_definitions(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit
                            PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
-target_clang_tidy(${PROJECT_NAME}_simple_planner_fixed_size_interpolation_unit ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
-target_cxx_version(${PROJECT_NAME}_simple_planner_fixed_size_interpolation_unit PRIVATE
+target_clang_tidy(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit
+                  ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
+target_cxx_version(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit PRIVATE
                    VERSION ${TESSERACT_CXX_VERSION})
 target_code_coverage(
-  ${PROJECT_NAME}_simple_planner_fixed_size_interpolation_unit
+  ${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit
   PRIVATE
   ALL
   EXCLUDE ${COVERAGE_EXCLUDE}
   ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
-add_gtest_discover_tests(${PROJECT_NAME}_simple_planner_fixed_size_interpolation_unit)
-add_dependencies(${PROJECT_NAME}_simple_planner_fixed_size_interpolation_unit ${PROJECT_NAME}_simple)
-add_dependencies(run_tests ${PROJECT_NAME}_simple_planner_fixed_size_interpolation_unit)
+add_gtest_discover_tests(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit)
+add_dependencies(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit ${PROJECT_NAME}_simple)
+add_dependencies(run_tests ${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit)
 
-add_executable(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit
-               simple_planner_fixed_size_assign_no_ik_position.cpp)
-target_link_libraries(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit PRIVATE GTest::GTest GTest::Main
-                                                                                             ${PROJECT_NAME}_simple)
-target_compile_options(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit
-                       PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE} ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
-target_compile_definitions(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit
-                           PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
-target_clang_tidy(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
-target_cxx_version(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit PRIVATE
-                   VERSION ${TESSERACT_CXX_VERSION})
+add_executable(${PROJECT_NAME}_simple_planner_fixed_size_plan_unit simple_planner_fixed_size_plan_unit.cpp)
+target_link_libraries(${PROJECT_NAME}_simple_planner_fixed_size_plan_unit PRIVATE GTest::GTest GTest::Main
+                                                                                  ${PROJECT_NAME}_simple)
+target_compile_options(${PROJECT_NAME}_simple_planner_fixed_size_plan_unit PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE}
+                                                                                   ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
+target_compile_definitions(${PROJECT_NAME}_simple_planner_fixed_size_plan_unit PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
+target_clang_tidy(${PROJECT_NAME}_simple_planner_fixed_size_plan_unit ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
+target_cxx_version(${PROJECT_NAME}_simple_planner_fixed_size_plan_unit PRIVATE VERSION ${TESSERACT_CXX_VERSION})
 target_code_coverage(
-  ${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit
+  ${PROJECT_NAME}_simple_planner_fixed_size_plan_unit
   PRIVATE
   ALL
   EXCLUDE ${COVERAGE_EXCLUDE}
   ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
-add_gtest_discover_tests(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit)
-add_dependencies(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit ${PROJECT_NAME}_simple)
-add_dependencies(run_tests ${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit)
+add_gtest_discover_tests(${PROJECT_NAME}_simple_planner_fixed_size_plan_unit)
+add_dependencies(${PROJECT_NAME}_simple_planner_fixed_size_plan_unit ${PROJECT_NAME}_simple)
+add_dependencies(run_tests ${PROJECT_NAME}_simple_planner_fixed_size_plan_unit)
 
-add_executable(${PROJECT_NAME}_simple_planner_lvs_interpolation_unit simple_planner_lvs_interpolation.cpp)
-target_link_libraries(${PROJECT_NAME}_simple_planner_lvs_interpolation_unit PRIVATE GTest::GTest GTest::Main
-                                                                                    ${PROJECT_NAME}_simple)
-target_compile_options(${PROJECT_NAME}_simple_planner_lvs_interpolation_unit
-                       PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE} ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
-target_compile_definitions(${PROJECT_NAME}_simple_planner_lvs_interpolation_unit
-                           PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
-target_clang_tidy(${PROJECT_NAME}_simple_planner_lvs_interpolation_unit ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
-target_cxx_version(${PROJECT_NAME}_simple_planner_lvs_interpolation_unit PRIVATE VERSION ${TESSERACT_CXX_VERSION})
+add_executable(${PROJECT_NAME}_simple_planner_lvs_plan_unit simple_planner_lvs_plan_unit.cpp)
+target_link_libraries(${PROJECT_NAME}_simple_planner_lvs_plan_unit PRIVATE GTest::GTest GTest::Main
+                                                                           ${PROJECT_NAME}_simple)
+target_compile_options(${PROJECT_NAME}_simple_planner_lvs_plan_unit PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE}
+                                                                            ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
+target_compile_definitions(${PROJECT_NAME}_simple_planner_lvs_plan_unit PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
+target_clang_tidy(${PROJECT_NAME}_simple_planner_lvs_plan_unit ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
+target_cxx_version(${PROJECT_NAME}_simple_planner_lvs_plan_unit PRIVATE VERSION ${TESSERACT_CXX_VERSION})
 target_code_coverage(
-  ${PROJECT_NAME}_simple_planner_lvs_interpolation_unit
+  ${PROJECT_NAME}_simple_planner_lvs_plan_unit
   PRIVATE
   ALL
   EXCLUDE ${COVERAGE_EXCLUDE}
   ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
-add_gtest_discover_tests(${PROJECT_NAME}_simple_planner_lvs_interpolation_unit)
-add_dependencies(${PROJECT_NAME}_simple_planner_lvs_interpolation_unit ${PROJECT_NAME}_simple)
-add_dependencies(run_tests ${PROJECT_NAME}_simple_planner_lvs_interpolation_unit)
+add_gtest_discover_tests(${PROJECT_NAME}_simple_planner_lvs_plan_unit)
+add_dependencies(${PROJECT_NAME}_simple_planner_lvs_plan_unit ${PROJECT_NAME}_simple)
+add_dependencies(run_tests ${PROJECT_NAME}_simple_planner_lvs_plan_unit)
diff --git a/...nner_fixed_size_assign_no_ik_position.cpp → ...ner_fixed_size_assign_no_ik_plan_unit.cpp b/...nner_fixed_size_assign_no_ik_position.cpp → ...ner_fixed_size_assign_no_ik_plan_unit.cpp
@@ -1,5 +1,5 @@
 /**
- * @file simple_planner_fixed_size_assign_position.cpp
+ * @file simple_planner_fixed_size_assign_no_ik_plan_unit.cpp
  * @brief
  *
  * @author Levi Armstrong
@@ -43,7 +43,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 using namespace tesseract_environment;
 using namespace tesseract_planning;
 
-class TesseractPlanningSimplePlannerFixedSizeAssignNoIKPositionUnit : public ::testing::Test
+class TesseractPlanningSimplePlannerFixedSizeAssignNoIKPlanProfileUnit : public ::testing::Test
 {
 protected:
   Environment::Ptr env_;
@@ -68,7 +68,7 @@ class TesseractPlanningSimplePlannerFixedSizeAssignNoIKPositionUnit : public ::t
   }
 };
 
-TEST_F(TesseractPlanningSimplePlannerFixedSizeAssignNoIKPositionUnit, JointCartesian_AssignJointPosition)  // NOLINT
+TEST_F(TesseractPlanningSimplePlannerFixedSizeAssignNoIKPlanProfileUnit, JointCartesian_AssignJointPosition)  // NOLINT
 {
   PlannerRequest request;
   request.env = env_;
@@ -110,7 +110,7 @@ TEST_F(TesseractPlanningSimplePlannerFixedSizeAssignNoIKPositionUnit, JointCarte
   EXPECT_EQ(mi.getPathProfile(), instr2.getPathProfile());
 }
 
-TEST_F(TesseractPlanningSimplePlannerFixedSizeAssignNoIKPositionUnit, CartesianJoint_AssignJointPosition)  // NOLINT
+TEST_F(TesseractPlanningSimplePlannerFixedSizeAssignNoIKPlanProfileUnit, CartesianJoint_AssignJointPosition)  // NOLINT
 {
   PlannerRequest request;
   request.env = env_;
@@ -151,7 +151,7 @@ TEST_F(TesseractPlanningSimplePlannerFixedSizeAssignNoIKPositionUnit, CartesianJ
   EXPECT_EQ(mi.getPathProfile(), instr2.getPathProfile());
 }
 
-TEST_F(TesseractPlanningSimplePlannerFixedSizeAssignNoIKPositionUnit, CartesianCartesian_AssignJointPosition)  // NOLINT
+TEST_F(TesseractPlanningSimplePlannerFixedSizeAssignNoIKPlanProfileUnit, CartesianCartesian_AssignJointPosition)  // NOLINT
 {
   PlannerRequest request;
   request.env = env_;

diff --git a/...mple_planner_fixed_size_interpolation.cpp → ...t/simple_planner_fixed_size_plan_unit.cpp b/...mple_planner_fixed_size_interpolation.cpp → ...t/simple_planner_fixed_size_plan_unit.cpp
@@ -1,5 +1,5 @@
 /**
- * @file simple_planner_fixed_size_interpolation.cpp
+ * @file simple_planner_fixed_size_plan_unit.cpp
  * @brief
  *
  * @author Matthew Powelson
@@ -43,7 +43,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 using namespace tesseract_environment;
 using namespace tesseract_planning;
 
-class TesseractPlanningSimplePlannerFixedSizeInterpolationUnit : public ::testing::Test
+class TesseractPlanningSimplePlannerFixedSizePlanProfileUnit : public ::testing::Test
 {
 protected:
   Environment::Ptr env_;
@@ -68,7 +68,7 @@ class TesseractPlanningSimplePlannerFixedSizeInterpolationUnit : public ::testin
   }
 };
 
-TEST_F(TesseractPlanningSimplePlannerFixedSizeInterpolationUnit, JointJoint_JointInterpolation)  // NOLINT
+TEST_F(TesseractPlanningSimplePlannerFixedSizePlanProfileUnit, JointJoint_JointInterpolation)  // NOLINT
 {
   PlannerRequest request;
   request.env = env_;
@@ -110,7 +110,7 @@ TEST_F(TesseractPlanningSimplePlannerFixedSizeInterpolationUnit, JointJoint_Join
   EXPECT_TRUE(wp2.getPosition().isApprox(mi.getWaypoint().as<JointWaypointPoly>().getPosition(), 1e-5));
 }
 
-TEST_F(TesseractPlanningSimplePlannerFixedSizeInterpolationUnit, JointCart_JointInterpolation)  // NOLINT
+TEST_F(TesseractPlanningSimplePlannerFixedSizePlanProfileUnit, JointCart_JointInterpolation)  // NOLINT
 {
   PlannerRequest request;
   request.env = env_;
@@ -156,7 +156,7 @@ TEST_F(TesseractPlanningSimplePlannerFixedSizeInterpolationUnit, JointCart_Joint
   EXPECT_TRUE(wp2.getTransform().isApprox(final_pose, 1e-3));
 }
 
-TEST_F(TesseractPlanningSimplePlannerFixedSizeInterpolationUnit, CartJoint_JointInterpolation)  // NOLINT
+TEST_F(TesseractPlanningSimplePlannerFixedSizePlanProfileUnit, CartJoint_JointInterpolation)  // NOLINT
 {
   PlannerRequest request;
   request.env = env_;
@@ -199,7 +199,7 @@ TEST_F(TesseractPlanningSimplePlannerFixedSizeInterpolationUnit, CartJoint_Joint
   EXPECT_TRUE(wp2.getPosition().isApprox(mi.getWaypoint().as<JointWaypointPoly>().getPosition(), 1e-5));
 }
 
-TEST_F(TesseractPlanningSimplePlannerFixedSizeInterpolationUnit, CartCart_JointInterpolation)  // NOLINT
+TEST_F(TesseractPlanningSimplePlannerFixedSizePlanProfileUnit, CartCart_JointInterpolation)  // NOLINT
 {
   PlannerRequest request;
   request.env = env_;

diff --git a/...test/simple_planner_lvs_interpolation.cpp → ...ple/test/simple_planner_lvs_plan_unit.cpp b/...test/simple_planner_lvs_interpolation.cpp → ...ple/test/simple_planner_lvs_plan_unit.cpp
@@ -1,5 +1,5 @@
 /**
- * @file simple_planner_fixed_size_interpolation.cpp
+ * @file simple_planner_lvs_plan_unit.cpp
  * @brief
  *
  * @author Matthew Powelson
@@ -43,7 +43,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 using namespace tesseract_environment;
 using namespace tesseract_planning;
 
-class TesseractPlanningSimplePlannerLVSInterpolationUnit : public ::testing::Test
+class TesseractPlanningSimplePlannerLVSPlanProfileUnit : public ::testing::Test
 {
 protected:
   Environment::Ptr env_;
@@ -68,7 +68,7 @@ class TesseractPlanningSimplePlannerLVSInterpolationUnit : public ::testing::Tes
   }
 };
 
-TEST_F(TesseractPlanningSimplePlannerLVSInterpolationUnit, InterpolateStateWaypoint_JointJoint_Freespace)  // NOLINT
+TEST_F(TesseractPlanningSimplePlannerLVSPlanProfileUnit, InterpolateStateWaypoint_JointJoint_Freespace)  // NOLINT
 {
   PlannerRequest request;
   request.env = env_;
@@ -125,7 +125,7 @@ TEST_F(TesseractPlanningSimplePlannerLVSInterpolationUnit, InterpolateStateWaypo
   EXPECT_EQ(cl.size(), steps);
 }
 
-TEST_F(TesseractPlanningSimplePlannerLVSInterpolationUnit, InterpolateStateWaypoint_JointJoint_Linear)  // NOLINT
+TEST_F(TesseractPlanningSimplePlannerLVSPlanProfileUnit, InterpolateStateWaypoint_JointJoint_Linear)  // NOLINT
 {
   PlannerRequest request;
   request.env = env_;
@@ -193,7 +193,7 @@ TEST_F(TesseractPlanningSimplePlannerLVSInterpolationUnit, InterpolateStateWaypo
   EXPECT_EQ(crl.size(), rot_steps);
 }
 
-TEST_F(TesseractPlanningSimplePlannerLVSInterpolationUnit, InterpolateStateWaypoint_JointCart_Freespace)  // NOLINT
+TEST_F(TesseractPlanningSimplePlannerLVSPlanProfileUnit, InterpolateStateWaypoint_JointCart_Freespace)  // NOLINT
 {
   PlannerRequest request;
   request.env = env_;
@@ -251,7 +251,7 @@ TEST_F(TesseractPlanningSimplePlannerLVSInterpolationUnit, InterpolateStateWaypo
   EXPECT_TRUE(static_cast<int>(cl.size()) > min_steps);
 }
 
-TEST_F(TesseractPlanningSimplePlannerLVSInterpolationUnit, InterpolateStateWaypoint_JointCart_Linear)  // NOLINT
+TEST_F(TesseractPlanningSimplePlannerLVSPlanProfileUnit, InterpolateStateWaypoint_JointCart_Linear)  // NOLINT
 {
   PlannerRequest request;
   request.env = env_;
@@ -320,7 +320,7 @@ TEST_F(TesseractPlanningSimplePlannerLVSInterpolationUnit, InterpolateStateWaypo
   EXPECT_EQ(crl.size(), rot_steps);
 }
 
-TEST_F(TesseractPlanningSimplePlannerLVSInterpolationUnit, InterpolateStateWaypoint_CartJoint_Freespace)  // NOLINT
+TEST_F(TesseractPlanningSimplePlannerLVSPlanProfileUnit, InterpolateStateWaypoint_CartJoint_Freespace)  // NOLINT
 {
   PlannerRequest request;
   request.env = env_;
@@ -377,7 +377,7 @@ TEST_F(TesseractPlanningSimplePlannerLVSInterpolationUnit, InterpolateStateWaypo
   EXPECT_TRUE(static_cast<int>(cl.size()) > min_steps);
 }
 
-TEST_F(TesseractPlanningSimplePlannerLVSInterpolationUnit, InterpolateStateWaypoint_CartJoint_Linear)  // NOLINT
+TEST_F(TesseractPlanningSimplePlannerLVSPlanProfileUnit, InterpolateStateWaypoint_CartJoint_Linear)  // NOLINT
 {
   PlannerRequest request;
   request.env = env_;
@@ -446,7 +446,7 @@ TEST_F(TesseractPlanningSimplePlannerLVSInterpolationUnit, InterpolateStateWaypo
   EXPECT_EQ(crl.size(), rot_steps);
 }
 
-TEST_F(TesseractPlanningSimplePlannerLVSInterpolationUnit, InterpolateStateWaypoint_CartCart_Freespace)  // NOLINT
+TEST_F(TesseractPlanningSimplePlannerLVSPlanProfileUnit, InterpolateStateWaypoint_CartCart_Freespace)  // NOLINT
 {
   PlannerRequest request;
   request.env = env_;
@@ -505,7 +505,7 @@ TEST_F(TesseractPlanningSimplePlannerLVSInterpolationUnit, InterpolateStateWaypo
   EXPECT_TRUE(static_cast<int>(cl.size()) > min_steps);
 }
 
-TEST_F(TesseractPlanningSimplePlannerLVSInterpolationUnit, InterpolateStateWaypoint_CartCart_Linear)  // NOLINT
+TEST_F(TesseractPlanningSimplePlannerLVSPlanProfileUnit, InterpolateStateWaypoint_CartCart_Linear)  // NOLINT
 {
   PlannerRequest request;
   request.env = env_;