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davetcoleman
approved these changes
Feb 18, 2018
| int num_nearest_ik_tests_; | ||
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| // random generator | ||
| random_numbers::RandomNumberGenerator rng_{RANDOM_SEED}; |
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is this aggregate initialization? im not used to this syntax http://en.cppreference.com/w/cpp/language/aggregate_initialization
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it is C++11 Brace-Initialization, can be used also for class members. check the link http://www.informit.com/articles/article.aspx?p=1852519
| @@ -382,7 +389,7 @@ TEST(IKFastPlugin, searchIKWithCallback) | |||
| } | |||
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| ROS_INFO_STREAM("Success Rate: " << (double)success / kinematics_test.num_ik_cb_tests_); | |||
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subtract removed_sample from this debug out put too please
- removed test samples because of z > 0 are considered
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jrgnicho
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Feb 19, 2018
| @@ -340,6 +346,7 @@ TEST(IKFastPlugin, searchIKWithCallback) | |||
| // check height | |||
| if (poses[0].position.z <= 0.0f) | |||
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I can't recall why the height has to be checked here ...
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I think you made this in order to check if the IKCallback works.
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I'm not sure what's wrong with travis build but this looks good to me. @khupilz thanks for submitting this patch. |
rhaschke
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Mar 6, 2019
Kinematics unittests use random sampling, which might (randomly) cause the tests to fail. This fix reduces randomness by using a fixed seed to sample robot states. Additionally, the "searchIKWithCallback" test should resample dismissed samples as pointed out in moveit/moveit_kinematics_tests#16.
rhaschke
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Mar 6, 2019
Kinematics unittests use random sampling, which might (randomly) cause the tests to fail. This fix reduces randomness by using a fixed seed to sample robot states. Additionally, the "searchIKWithCallback" test should resample dismissed samples as pointed out in moveit/moveit_kinematics_tests#16.
rhaschke
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Mar 7, 2019
Kinematics unit tests use random sampling, which might (randomly) cause the tests to fail (unfortunately sampling many failing samples). This fix reduces randomness by using a fixed seed to sample robot states. Additionally, the "searchIKWithCallback" test should resample dismissed samples as pointed out in moveit/moveit_kinematics_tests#16.
henningkayser
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Mar 7, 2019
Kinematics unit tests use random sampling, which might (randomly) cause the tests to fail (unfortunately sampling many failing samples). This fix reduces randomness by using a fixed seed to sample robot states. Additionally, the "searchIKWithCallback" test should resample dismissed samples as pointed out in moveit/moveit_kinematics_tests#16.
mayman99
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Mar 9, 2019
Kinematics unit tests use random sampling, which might (randomly) cause the tests to fail (unfortunately sampling many failing samples). This fix reduces randomness by using a fixed seed to sample robot states. Additionally, the "searchIKWithCallback" test should resample dismissed samples as pointed out in moveit/moveit_kinematics_tests#16.
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Fixed unstable tests due to following two reasons:
A random number generator with a seed is used for generating test data
z>0in test casesearchIKWithCallbackthrows some test samples away but this is not taken in account when computing success rate.