#include <map>#include <costmap_2d/costmap_2d.h>#include <costmap_2d/layered_costmap.h>#include <costmap_2d/obstacle_layer.h>#include <costmap_2d/inflation_layer.h>#include <costmap_2d/observation_buffer.h>#include <costmap_2d/testing_helper.h>#include <gtest/gtest.h>#include <tf/transform_listener.h>
Go to the source code of this file.
Functions | |
| int | main (int argc, char **argv) |
| std::vector< Point > | setRadii (LayeredCostmap &layers, double length, double width, double inflation_radius) |
| TEST (costmap, testAdjacentToObstacleCanStillMove) | |
| TEST (costmap, testInflationShouldNotCreateUnknowns) | |
| TEST (costmap, testCostFunctionCorrectness) | |
| TEST (costmap, testInflationOrderCorrectness) | |
| TEST (costmap, testInflation) | |
| TEST (costmap, testInflation2) | |
| TEST (costmap, testInflation3) | |
| void | validatePointInflation (unsigned int mx, unsigned int my, Costmap2D *costmap, InflationLayer *ilayer, double inflation_radius) |
Function Documentation
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 406 of file inflation_tests.cpp.
| std::vector<Point> setRadii | ( | LayeredCostmap & | layers, |
| double | length, | ||
| double | width, | ||
| double | inflation_radius | ||
| ) |
Definition at line 48 of file inflation_tests.cpp.
| TEST | ( | costmap | , |
| testAdjacentToObstacleCanStillMove | |||
| ) |
Definition at line 130 of file inflation_tests.cpp.
| TEST | ( | costmap | , |
| testInflationShouldNotCreateUnknowns | |||
| ) |
Definition at line 156 of file inflation_tests.cpp.
| TEST | ( | costmap | , |
| testCostFunctionCorrectness | |||
| ) |
Test for the cost function correctness with a larger range and different values
Definition at line 181 of file inflation_tests.cpp.
| TEST | ( | costmap | , |
| testInflationOrderCorrectness | |||
| ) |
Test that there is no regression and that costs do not get underestimated with the distance-as-key map used to replace the previously used priority queue. This is a more thorough test of the cost function being correctly applied.
Definition at line 249 of file inflation_tests.cpp.
| TEST | ( | costmap | , |
| testInflation | |||
| ) |
Test inflation for both static and dynamic obstacles
Definition at line 277 of file inflation_tests.cpp.
| TEST | ( | costmap | , |
| testInflation2 | |||
| ) |
Test specific inflation scenario to ensure we do not set inflated obstacles to be raw obstacles.
Definition at line 341 of file inflation_tests.cpp.
| TEST | ( | costmap | , |
| testInflation3 | |||
| ) |
Test inflation behavior, starting with an empty map
Definition at line 370 of file inflation_tests.cpp.
| void validatePointInflation | ( | unsigned int | mx, |
| unsigned int | my, | ||
| Costmap2D * | costmap, | ||
| InflationLayer * | ilayer, | ||
| double | inflation_radius | ||
| ) |
Definition at line 73 of file inflation_tests.cpp.