Reduce num_waypoints in a test. Use "panda_arm" for all tests

moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp

@@ -50,7 +50,7 @@ namespace
 // so add them here.
 // TODO(andyz): Function won't be needed once this issue has been addressed:
 // https://github.com/ros/urdfdom/issues/177
-void set_acceleration_limits(moveit::core::RobotModelPtr robot_model)
+void set_acceleration_limits(const moveit::core::RobotModelPtr& robot_model)
 {
   const std::vector<moveit::core::JointModel*> joint_models = robot_model->getActiveJointModels();
   for (auto& joint_model : joint_models)
@@ -291,7 +291,7 @@ TEST(time_optimal_trajectory_generation, testLargeAccel)
 TEST(time_optimal_trajectory_generation, testLastWaypoint)
 {
   constexpr auto robot_name{ "panda" };
-  constexpr auto group_name{ "hand" };
+  constexpr auto group_name{ "panda_arm" };
 
   auto robot_model = moveit::core::loadTestingRobotModel(robot_name);
   ASSERT_TRUE(robot_model) << "Failed to load robot model" << robot_name;
@@ -306,96 +306,14 @@ TEST(time_optimal_trajectory_generation, testLastWaypoint)
     waypoint_state.setJointGroupPositions(group, waypoint);
     trajectory.addSuffixWayPoint(waypoint_state, 0.1);
   };
-  add_waypoint({ 0.000000000, 0.000000000 });
-  add_waypoint({ 0.000396742, 0.000396742 });
-  add_waypoint({ 0.000793484, 0.000793484 });
-  add_waypoint({ 0.001190226, 0.001190226 });
-  add_waypoint({ 0.001586968, 0.001586968 });
-  add_waypoint({ 0.001983710, 0.001983710 });
-  add_waypoint({ 0.002380452, 0.002380452 });
-  add_waypoint({ 0.002777194, 0.002777194 });
-  add_waypoint({ 0.003173936, 0.003173936 });
-  add_waypoint({ 0.003570678, 0.003570678 });
-  add_waypoint({ 0.003967420, 0.003967420 });
-  add_waypoint({ 0.004364162, 0.004364162 });
-  add_waypoint({ 0.004760904, 0.004760904 });
-  add_waypoint({ 0.005157646, 0.005157646 });
-  add_waypoint({ 0.005554388, 0.005554388 });
-  add_waypoint({ 0.005951130, 0.005951130 });
-  add_waypoint({ 0.006347872, 0.006347872 });
-  add_waypoint({ 0.006744614, 0.006744614 });
-  add_waypoint({ 0.007141356, 0.007141356 });
-  add_waypoint({ 0.007538098, 0.007538098 });
-  add_waypoint({ 0.007934840, 0.007934840 });
-  add_waypoint({ 0.008331582, 0.008331582 });
-  add_waypoint({ 0.008728324, 0.008728324 });
-  add_waypoint({ 0.009125066, 0.009125066 });
-  add_waypoint({ 0.009521808, 0.009521808 });
-  add_waypoint({ 0.009918550, 0.009918550 });
-  add_waypoint({ 0.010315292, 0.010315292 });
-  add_waypoint({ 0.010712034, 0.010712034 });
-  add_waypoint({ 0.011108776, 0.011108776 });
-  add_waypoint({ 0.011505518, 0.011505518 });
-  add_waypoint({ 0.011902261, 0.011902261 });
-  add_waypoint({ 0.012299003, 0.012299003 });
-  add_waypoint({ 0.012695745, 0.012695745 });
-  add_waypoint({ 0.013092487, 0.013092487 });
-  add_waypoint({ 0.013489229, 0.013489229 });
-  add_waypoint({ 0.013885971, 0.013885971 });
-  add_waypoint({ 0.014282713, 0.014282713 });
-  add_waypoint({ 0.014679455, 0.014679455 });
-  add_waypoint({ 0.015076197, 0.015076197 });
-  add_waypoint({ 0.015472939, 0.015472939 });
-  add_waypoint({ 0.015869681, 0.015869681 });
-  add_waypoint({ 0.016266423, 0.016266423 });
-  add_waypoint({ 0.016663165, 0.016663165 });
-  add_waypoint({ 0.017059907, 0.017059907 });
-  add_waypoint({ 0.017456649, 0.017456649 });
-  add_waypoint({ 0.017853391, 0.017853391 });
-  add_waypoint({ 0.018250133, 0.018250133 });
-  add_waypoint({ 0.018646875, 0.018646875 });
-  add_waypoint({ 0.019043617, 0.019043617 });
-  add_waypoint({ 0.019440359, 0.019440359 });
-  add_waypoint({ 0.019837101, 0.019837101 });
-  add_waypoint({ 0.020233843, 0.020233843 });
-  add_waypoint({ 0.020630585, 0.020630585 });
-  add_waypoint({ 0.021027327, 0.021027327 });
-  add_waypoint({ 0.021424069, 0.021424069 });
-  add_waypoint({ 0.021820811, 0.021820811 });
-  add_waypoint({ 0.022217553, 0.022217553 });
-  add_waypoint({ 0.022614295, 0.022614295 });
-  add_waypoint({ 0.023011037, 0.023011037 });
-  add_waypoint({ 0.023407779, 0.023407779 });
-  add_waypoint({ 0.023804521, 0.023804521 });
-  add_waypoint({ 0.024201263, 0.024201263 });
-  add_waypoint({ 0.024598005, 0.024598005 });
-  add_waypoint({ 0.024994747, 0.024994747 });
-  add_waypoint({ 0.025391489, 0.025391489 });
-  add_waypoint({ 0.025788231, 0.025788231 });
-  add_waypoint({ 0.026184973, 0.026184973 });
-  add_waypoint({ 0.026581715, 0.026581715 });
-  add_waypoint({ 0.026978457, 0.026978457 });
-  add_waypoint({ 0.027375199, 0.027375199 });
-  add_waypoint({ 0.027771941, 0.027771941 });
-  add_waypoint({ 0.028168683, 0.028168683 });
-  add_waypoint({ 0.028565425, 0.028565425 });
-  add_waypoint({ 0.028962167, 0.028962167 });
-  add_waypoint({ 0.029358909, 0.029358909 });
-  add_waypoint({ 0.029755651, 0.029755651 });
-  add_waypoint({ 0.030152393, 0.030152393 });
-  add_waypoint({ 0.030549135, 0.030549135 });
-  add_waypoint({ 0.030945877, 0.030945877 });
-  add_waypoint({ 0.031342619, 0.031342619 });
-  add_waypoint({ 0.031739361, 0.031739361 });
-  add_waypoint({ 0.032136103, 0.032136103 });
-  add_waypoint({ 0.032532845, 0.032532845 });
-  add_waypoint({ 0.032929587, 0.032929587 });
-  add_waypoint({ 0.033326329, 0.033326329 });
-  add_waypoint({ 0.033723071, 0.033723071 });
-  add_waypoint({ 0.034119813, 0.034119813 });
-  add_waypoint({ 0.034516555, 0.034516555 });
-
-  const std::vector<double> expected_last_waypoint = { 0.034913297, 0.034913297 };
+  add_waypoint({ 0.000000000, 0.000000000, 0, 0, 0, 0, 0 });
+  add_waypoint({ 0.009521808, 0.009521808, 0, 0, 0, 0, 0 });
+  add_waypoint({ 0.011902261, 0.011902261, 0, 0, 0, 0, 0 });
+  add_waypoint({ 0.016663165, 0.016663165, 0, 0, 0, 0, 0 });
+  add_waypoint({ 0.026184973, 0.026184973, 0, 0, 0, 0, 0 });
+  add_waypoint({ 0.034516555, 0.034516555, 0, 0, 0, 0, 0 });
+
+  const std::vector<double> expected_last_waypoint = { 0.034516555, 0.034516555, 0, 0, 0, 0, 0 };
   add_waypoint(expected_last_waypoint);
 
   TimeOptimalTrajectoryGeneration totg;