Commits

Ioan Sucan committed ea909b2

add LazyPRM to testing

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Files changed (1)

tests/geometric/2dmap/2dmap.cpp

 #include "ompl/geometric/planners/rrt/LazyRRT.h"
 #include "ompl/geometric/planners/est/EST.h"
 #include "ompl/geometric/planners/prm/PRM.h"
+#include "ompl/geometric/planners/prm/LazyPRM.h"
 
 #include "../../BoostTestTeamCityReporter.h"
 #include "../../base/PlannerTest.h"
 
 };
 
+class LazyPRMTest : public TestPlanner
+{
+protected:
+
+    base::PlannerPtr newPlanner(const base::SpaceInformationPtr &si)
+    {
+        geometric::LazyPRM *prm = new geometric::LazyPRM(si);
+        return base::PlannerPtr(prm);
+    }
+
+};
+
 class PlanTest
 {
 public:
 OMPL_PLANNER_TEST(RRT, 99.0, 0.01)
 OMPL_PLANNER_TEST(RRTConnect, 99.0, 0.01)
 OMPL_PLANNER_TEST(pRRT, 99.0, 0.02)  
+// LazyRRT is a not so great, so we use more relaxed bounds
+OMPL_PLANNER_TEST(LazyRRT, 90.0, 0.2)
 
 OMPL_PLANNER_TEST(TRRT, 99.0, 0.01)
 
-// LazyRRT is a not so great, so we use more relaxed bounds
-OMPL_PLANNER_TEST(LazyRRT, 90.0, 0.2)
-
 OMPL_PLANNER_TEST(pSBL, 99.0, 0.02)
 OMPL_PLANNER_TEST(SBL, 99.0, 0.02)
 
 OMPL_PLANNER_TEST(BKPIECE1, 99.0, 0.01)
 
 OMPL_PLANNER_TEST(EST, 99.0, 0.02)
+
 OMPL_PLANNER_TEST(PRM, 99.0, 0.02)
+OMPL_PLANNER_TEST(LazyPRM, 99.0, 0.02)
 
 BOOST_AUTO_TEST_SUITE_END()