#include <ros/ros.h>#include <nav_core2/exceptions.h>#include <global_planner_tests/easy_costmap.h>#include <global_planner_tests/global_planner_tests.h>#include <dlux_global_planner/dlux_global_planner.h>#include <nav_grid/coordinate_conversion.h>#include <gtest/gtest.h>#include <string>#include <vector>
Go to the source code of this file.
Functions | |
| int | main (int argc, char **argv) |
| bool | pathsEqual (const nav_2d_msgs::Path2D &path_a, const nav_2d_msgs::Path2D &path_b) |
| void | replanning_test (const std::string &ns, bool expect_different, bool path_caching=false, double improvement_threshold=-1.0) |
| Check to see whether path caching is working as expected. | |
| void | setBarrier (nav_core2::Costmap &costmap, const unsigned char value) |
| TEST (GlobalPlannerReplanning, no_cache) | |
| TEST (GlobalPlannerReplanning, any_cache) | |
| TEST (GlobalPlannerReplanning, improve_cache) | |
| TEST (GlobalPlannerReplanning, big_improve) | |
Variables | |
| int | barrier_x = 5 |
| int | barrier_y0 = 1 |
| int | barrier_y1 = 4 |
| const std::string | map_path = "package://dlux_plugins/test/robert_frost.png" |
Function Documentation
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 157 of file global_oscillation_test.cpp.
| bool pathsEqual | ( | const nav_2d_msgs::Path2D & | path_a, |
| const nav_2d_msgs::Path2D & | path_b | ||
| ) |
Definition at line 59 of file global_oscillation_test.cpp.
| void replanning_test | ( | const std::string & | ns, |
| bool | expect_different, | ||
| bool | path_caching = false, |
||
| double | improvement_threshold = -1.0 |
||
| ) |
Check to see whether path caching is working as expected.
- Parameters:
-
ns Namespace for patermeters expect_different Whether we expected the resulting paths to be different path_caching Value for path_caching parameter improvement_threshold Value for improvement_threshold parameter
Definition at line 84 of file global_oscillation_test.cpp.
| void setBarrier | ( | nav_core2::Costmap & | costmap, |
| const unsigned char | value | ||
| ) |
Definition at line 51 of file global_oscillation_test.cpp.
| TEST | ( | GlobalPlannerReplanning | , |
| no_cache | |||
| ) |
Definition at line 133 of file global_oscillation_test.cpp.
| TEST | ( | GlobalPlannerReplanning | , |
| any_cache | |||
| ) |
Definition at line 139 of file global_oscillation_test.cpp.
| TEST | ( | GlobalPlannerReplanning | , |
| improve_cache | |||
| ) |
Definition at line 145 of file global_oscillation_test.cpp.
| TEST | ( | GlobalPlannerReplanning | , |
| big_improve | |||
| ) |
Definition at line 151 of file global_oscillation_test.cpp.
Variable Documentation
| int barrier_x = 5 |
Definition at line 47 of file global_oscillation_test.cpp.
| int barrier_y0 = 1 |
Definition at line 48 of file global_oscillation_test.cpp.
| int barrier_y1 = 4 |
Definition at line 49 of file global_oscillation_test.cpp.
| const std::string map_path = "package://dlux_plugins/test/robert_frost.png" |
Definition at line 45 of file global_oscillation_test.cpp.