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temporary storage 7/9/2026 20:41

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duongtd
2026-07-09 20:41:35 +07:00
parent e9394434ba
commit 17088a227d
12 changed files with 82 additions and 107 deletions
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10
test/plugin_loader_contract_test.cpp
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@@ -180,7 +180,7 @@ for(const auto& behavior : creators_)
expect(started.status == recovery_core::RecoveryStatus::kRunning,
"rotate must be running right after start");
const recovery_core::RecoveryResult first = behavior->update(0.1);
const recovery_core::RecoveryResult first = behavior->update();
expect(first.status == recovery_core::RecoveryStatus::kRunning,
"rotate first cycle must be running");
expect(first.output_type == recovery_core::RecoveryOutputType::kVelocity,
@@ -193,7 +193,7 @@ for(const auto& behavior : creators_)
recovery_core::RecoveryResult last = first;
for (int i = 0; i < 100 && last.status == recovery_core::RecoveryStatus::kRunning; ++i)
{
last = behavior->update(0.1);
last = behavior->update();
}
expect(last.status == recovery_core::RecoveryStatus::kSucceeded,
@@ -219,7 +219,7 @@ for(const auto& behavior : creators_)
goal.distance = 0.3;
behavior->start(goal);
const recovery_core::RecoveryResult first = behavior->update(0.1);
const recovery_core::RecoveryResult first = behavior->update();
expect(first.status == recovery_core::RecoveryStatus::kRunning,
"backup first cycle must be running");
expect(first.command.linear.x < 0.0, "backup must command negative linear.x");
@@ -227,7 +227,7 @@ for(const auto& behavior : creators_)
recovery_core::RecoveryResult last = first;
for (int i = 0; i < 1000 && last.status == recovery_core::RecoveryStatus::kRunning; ++i)
{
last = behavior->update(0.1);
last = behavior->update();
}
expect(last.status == recovery_core::RecoveryStatus::kSucceeded,
@@ -254,7 +254,7 @@ global_path_.push_back(pose2);
if(behavior->getNameRecoveryBehavior() == "regen_path_rc")
{
behavior->start(recovery_core::RecoveryGoal());
const recovery_core::RecoveryResult result = behavior->update(0.1);
const recovery_core::RecoveryResult result = behavior->update();
expect(result.status == recovery_core::RecoveryStatus::kSucceeded,
"regen path must succeed with a non-empty global path");