forbes
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934cdf5767
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test(assembly): regression tests for KCSolve solver refactor (#296)
Build and Test / build (pull_request) Successful in 29m11s
Phase 1e: Add C++ gtest and Python unittest coverage for the pluggable
solver system introduced in Phases 1a-1d.
C++ tests (KCSolve_tests_run):
- SolverRegistryTest (8 tests): register/get, duplicates, defaults,
available list, joints_for capability queries
- OndselAdapterTest (10 tests): identity checks, supported/unsupported
joints, Fixed/Revolute solve round-trips, no-grounded-parts handling,
exception safety, drag protocol (pre_drag/drag_step/post_drag),
redundant constraint diagnostics
Python tests (TestSolverIntegration):
- Full-stack solve via AssemblyObject → IKCSolver → OndselAdapter
- Fixed joint placement matching, revolute joint success
- No-ground error code (-6), redundancy detection (-2)
- ASMT export produces non-empty file
- Deterministic solve stability (solve twice → same result)
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2026-02-19 16:56:11 -06:00 |
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