bool test_task_manip(TaskManager& task_manager, const Waypoints &waypoints) { if (!test_task_mixed(task_manager, waypoints)) { return false; } AbstractTaskFactory &fact = task_manager.get_factory(); task_report(task_manager, "# removing tp 2\n"); if (!fact.remove(2)) { return false; } task_report(task_manager, "# removing tp 0\n"); if (!fact.remove(0)) { return false; } task_report(task_manager, "# removing tp -1 (illegal)\n"); if (fact.remove(0-1)) { return false; } task_report(task_manager, "# removing tp 50 (illegal)\n"); if (fact.remove(50)) { return false; } OrderedTaskPoint *tp; const Waypoint *wp; task_report(task_manager, "# inserting at 3\n"); wp = waypoints.lookup_id(3); if (wp) { tp = fact.createIntermediate(AbstractTaskFactory::AST_CYLINDER,*wp); if (!fact.insert(tp,3)) return false; } task_report(task_manager, "# auto-replacing at 2 (no morph)\n"); wp = waypoints.lookup_id(9); if (wp) { tp = fact.createIntermediate(AbstractTaskFactory::AST_CYLINDER,*wp); if (!fact.replace(tp,2)) return false; } task_report(task_manager, "# auto-replacing at 2 (morph)\n"); wp = waypoints.lookup_id(9); if (wp) { tp = fact.createStart(*wp); if (!fact.replace(tp,2)) return false; } task_report(task_manager, "# auto-replacing at 0 (morph this)\n"); wp = waypoints.lookup_id(12); if (wp) { tp = fact.createIntermediate(AbstractTaskFactory::AST_CYLINDER,*wp); if (!fact.replace(tp,0)) return false; } task_report(task_manager, "# auto-replacing at end (morph this)\n"); wp = waypoints.lookup_id(14); if (wp) { tp = fact.createIntermediate(AbstractTaskFactory::AST_CYLINDER,*wp); if (!fact.replace(tp,task_manager.task_size()-1)) return false; } task_report(task_manager, "# removing finish point\n"); if (!fact.remove(task_manager.task_size()-1)) { return false; } task_report(task_manager, "# inserting at 50 (equivalent to append)\n"); wp = waypoints.lookup_id(8); if (wp) { tp = fact.createFinish(*wp); if (!fact.insert(tp,50)) return false; } task_report(task_manager, "# inserting at 0 (morph this)\n"); wp = waypoints.lookup_id(3); if (wp) { tp = fact.createFinish(*wp); if (!fact.insert(tp,0)) return false; } task_report(task_manager, "# inserting at 2 (morph this)\n"); wp = waypoints.lookup_id(4); if (wp) { tp = fact.createStart(*wp); if (!fact.insert(tp,2)) return false; } task_report(task_manager, "# inserting at 2 (direct)\n"); wp = waypoints.lookup_id(6); if (wp) { tp = fact.createIntermediate(*wp); if (!fact.insert(tp,2,false)) return false; } task_report(task_manager, "# checking task\n"); if (task_manager.check_ordered_task()) { task_manager.reset(); task_manager.setActiveTaskPoint(0); task_manager.resume(); } else { return false; } return true; }