Unit test for #485

moveit · Oct 13, 2023 · 212cb6d · 212cb6d
1 parent 5f9d0ac
commit 212cb6d
Showing 1 changed file with 12 additions and 0 deletions.
diff --git a/core/test/test_serial.cpp b/core/test/test_serial.cpp
@@ -70,3 +70,15 @@ TEST_F(ConnectConnect, FailSucc) {
 
 	EXPECT_FALSE(t.plan());
 }
+
+// https://github.com/ros-planning/moveit_task_constructor/issues/485
+TEST_F(ConnectConnect, NoFailuresLeakingIntoFinalSolution) {
+	add(t, new GeneratorMockup({ 1.0, 2.0, 3.0 }));
+	add(t, new Connect());
+	add(t, new GeneratorMockup({ 10.0, 20.0 }));
+	add(t, new Connect({ INF, 0.0, 0.0, 0.0 }));
+	add(t, new GeneratorMockup({ 100.0, 200.0 }));
+
+	EXPECT_TRUE(t.plan());
+	EXPECT_COSTS(t.solutions(), ::testing::ElementsAre(121, 122, 123, 211, 212, 213, 221, 222, 223));
+}