Improve Unit Tests - Githubissues

ros-industrial / noether

Tool path planning and surface segmenter

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Improve Unit Tests #139

Open marip8 opened 3 years ago

marip8 commented 3 years ago

Problems

No real expectations on the results of the tool path planner in any test, just that a valid optional data type is returned
Surface walk planner does not produce expected results (see #34)
- Non-deterministic results from surface walk planner(see #103, #47)
Eigen value edge path planner does not produce expected results
Extra rasters feature also produces (one?) extra waypoints

Solutions

[ ] Revise unit tests to use test fixtures to reduce code duplication
[ ] Add meaningful expectations to the results of the tool path generation (e.g. number of strokes, number of points per stroke, normal direction
[ ] Fix issues with surface walk and eigen value edge planners
[ ] Transform test meshes by non-identity transformation to ensure results are correct and not just coincidentally correct (see #136)