Removed ScenarioPerceptionPipelineTestCaseGenerator class

- Removed ScenarioPerceptionPipelineTestCaseGenerator class and added its methods to ScenarioPerceptionPipelineFixture
- Renamed ScenarioPerceptionPipelineFixture/selectTestCase method as ScenarioPerceptionPipelineFixture/selectTestCase
- Added documentation for ScenarioPerceptionPipelineFixture/setUp and ScenarioPerceptionPipelineFixture/tearDown methods

include/moveit_middleware_benchmark/scenarios/scenario_perception_pipeline.hpp

@@ -76,7 +76,7 @@ class ScenarioPerceptionPipeline
   /** \brief Constructor for interface to send goal poses
    *  \param [in] move_group_interface_ptr The move_group_interface for sending goal poses
    */
-  ScenarioPerceptionPipeline(std::shared_ptr<MoveGroupInterface>);
+  ScenarioPerceptionPipeline(std::shared_ptr<MoveGroupInterface> move_group_interface_ptr);
 
   /** \brief Given a \e pose_list, sends poses in pose_list to plan,
    *  if the pipeline in \e sendTargetPose returns true,
@@ -102,55 +102,61 @@ class ScenarioPerceptionPipeline
   std::shared_ptr<MoveGroupInterface> move_group_interface_ptr_;
 };
 
-class ScenarioPerceptionPipelineTestCaseCreator
+class ScenarioPerceptionPipelineFixture : public benchmark::Fixture
 {
-private:
+protected:
+  /* ros node shared ptr*/
+  rclcpp::Node::SharedPtr node_;
+
+  /* move_group_interface_ptr for communicating with move_group_server */
+  std::shared_ptr<MoveGroupInterface> move_group_interface_ptr_;
+
+  /* selected test case index for benchmarking */
+  size_t selected_test_case_index_;
+
   /** the list of test cases to be tested */
-  static inline std::vector<nav_msgs::msg::Path> test_cases_ = {};
+  std::vector<nav_msgs::msg::Path> test_cases_ = {};
 
 public:
+  ScenarioPerceptionPipelineFixture();
+
+  /** \brief This method runs once each benchmark starts
+   *  \param [in] state
+   *  \return nothing is returned
+   */
+  void SetUp(::benchmark::State& /*state*/);
+
+  /** \brief This method runs as soon as each benchmark finishes
+   *  \param [in] state
+   *  \return nothing is returned
+   */
+  void TearDown(::benchmark::State& /*state*/);
+
   /** \brief Creates test_cases by filling \e test_cases_
    *  If the planning is failed, the execution is ignored and then it is returned false
    *  \return nothing is returned
    */
-  static void createTestCases();
+  void createTestCases();
 
   /** \brief Given a \e test_case_index, returns relevant test case.
    *  \param [in] test_case_index The index of test_case
    *  \return selected test case
    */
-  static nav_msgs::msg::Path selectTestCases(size_t test_case_index);
+  nav_msgs::msg::Path selectTestCase(size_t test_case_index);
 
   /** \brief Given a \e yaml_file_name, reads test cases from given yaml file
    *  and adds this read test cases to \e test_cases_
    *  \param [in] yaml_file_name the path of yaml file which includes test cases
    *  \return nothing is returned
    */
-  static void readTestCasesFromFile(const std::string& yaml_file_name);
+  void readTestCasesFromFile(const std::string& yaml_file_name);
 
   /** \brief Given a \e yaml_string, converts yaml_string to ros message
    *  and returns this ros message.
    *  \param [in] yaml_string the yaml string storing ros message fields
    *  \return nav_msgs::msg::Path which contains pose_list is returned
    */
-  static nav_msgs::msg::Path getTestCaseFromYamlString(const std::string& yaml_string);
-};
-
-class ScenarioPerceptionPipelineFixture : public benchmark::Fixture
-{
-protected:
-  /* ros node shared ptr*/
-  rclcpp::Node::SharedPtr node_;
-  /* move_group_interface_ptr for communicating with move_group_server */
-  std::shared_ptr<MoveGroupInterface> move_group_interface_ptr_;
-
-  /* selected test case index for benchmarking */
-  size_t selected_test_case_index_;
-
-public:
-  ScenarioPerceptionPipelineFixture();
-  void SetUp(::benchmark::State& /*state*/);
-  void TearDown(::benchmark::State& /*state*/);
+  nav_msgs::msg::Path getTestCaseFromYamlString(const std::string& yaml_string);
 };
 
 }  // namespace middleware_benchmark

src/scenarios/scenario_perception_pipeline.cpp

@@ -81,17 +81,42 @@ bool ScenarioPerceptionPipeline::sendTargetPose(const geometry_msgs::msg::Pose&
   }
 }
 
-void ScenarioPerceptionPipelineTestCaseCreator::createTestCases()
+ScenarioPerceptionPipelineFixture::ScenarioPerceptionPipelineFixture()
+{
+  createTestCases();
+}
+
+void ScenarioPerceptionPipelineFixture::SetUp(::benchmark::State& /*state*/)
+{
+  if (node_.use_count() == 0)
+  {
+    node_ = std::make_shared<rclcpp::Node>("test_scenario_perception_pipeline_node",
+                                           rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true));
+
+    node_->get_parameter("selected_test_case_index", selected_test_case_index_);
+  }
+
+  if (move_group_interface_ptr_.use_count() == 0)
+  {
+    move_group_interface_ptr_ = std::make_shared<MoveGroupInterface>(node_, PLANNING_GROUP);
+  }
+}
+
+void ScenarioPerceptionPipelineFixture::TearDown(::benchmark::State& /*state*/)
+{
+}
+
+void ScenarioPerceptionPipelineFixture::createTestCases()
 {
   readTestCasesFromFile(TEST_CASES_YAML_FILE);
 }
 
-nav_msgs::msg::Path ScenarioPerceptionPipelineTestCaseCreator::selectTestCases(size_t test_case_index)
+nav_msgs::msg::Path ScenarioPerceptionPipelineFixture::selectTestCase(size_t test_case_index)
 {
   return test_cases_.at(test_case_index);
 }
 
-void ScenarioPerceptionPipelineTestCaseCreator::readTestCasesFromFile(const std::string& yaml_file_name)
+void ScenarioPerceptionPipelineFixture::readTestCasesFromFile(const std::string& yaml_file_name)
 {
   YAML::Node config = YAML::LoadFile(yaml_file_name.c_str());
   for (YAML::const_iterator it = config["test_cases"].begin(); it != config["test_cases"].end(); ++it)
@@ -103,7 +128,7 @@ void ScenarioPerceptionPipelineTestCaseCreator::readTestCasesFromFile(const std:
   }
 }
 
-nav_msgs::msg::Path ScenarioPerceptionPipelineTestCaseCreator::getTestCaseFromYamlString(const std::string& yaml_string)
+nav_msgs::msg::Path ScenarioPerceptionPipelineFixture::getTestCaseFromYamlString(const std::string& yaml_string)
 {
   nav_msgs::msg::Path path_msg;
   void* ros_message = reinterpret_cast<void*>(&path_msg);
@@ -113,34 +138,9 @@ nav_msgs::msg::Path ScenarioPerceptionPipelineTestCaseCreator::getTestCaseFromYa
   return path_msg;
 }
 
-ScenarioPerceptionPipelineFixture::ScenarioPerceptionPipelineFixture()
-{
-  ScenarioPerceptionPipelineTestCaseCreator::createTestCases();
-}
-
-void ScenarioPerceptionPipelineFixture::SetUp(::benchmark::State& /*state*/)
-{
-  if (node_.use_count() == 0)
-  {
-    node_ = std::make_shared<rclcpp::Node>("test_scenario_perception_pipeline_node",
-                                           rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true));
-
-    node_->get_parameter("selected_test_case_index", selected_test_case_index_);
-  }
-
-  if (move_group_interface_ptr_.use_count() == 0)
-  {
-    move_group_interface_ptr_ = std::make_shared<MoveGroupInterface>(node_, PLANNING_GROUP);
-  }
-}
-
-void ScenarioPerceptionPipelineFixture::TearDown(::benchmark::State& /*state*/)
-{
-}
-
 BENCHMARK_DEFINE_F(ScenarioPerceptionPipelineFixture, test_scenario_perception_pipeline)(benchmark::State& st)
 {
-  auto selected_test_case = ScenarioPerceptionPipelineTestCaseCreator::selectTestCases(selected_test_case_index_);
+  auto selected_test_case = selectTestCase(selected_test_case_index_);
   for (auto _ : st)
   {
     auto sc = ScenarioPerceptionPipeline(move_group_interface_ptr_);