global_planner_tests Namespace Reference

Classes
class	EasyCostmap
	An instantiation of the Costmap class that simply populates the grid from an image. More...
Functions
bool	checkOccupiedPathCoverage (nav_core2::GlobalPlanner &planner, const PoseList &start_cells, const PoseList &goal_cells, const std::string &test_name, bool check_exception_type=true, bool verbose=false, bool quit_early=true, bool invalid_starts=true)
	Check if the appropriate exception is thrown when attempting to plan to or from an occupied cell.
bool	checkOutOfBoundsPathCoverage (nav_core2::GlobalPlanner &planner, const PoseList &start_cells, const PoseList &goal_cells, const std::string &test_name, bool check_exception_type=true, bool verbose=false, bool quit_early=true, bool invalid_starts=true)
	Check if the appropriate exception is thrown when attempting to plan to or from a pose off the costmap.
bool	checkValidPathCoverage (nav_core2::GlobalPlanner &planner, const PoseList &free_cells, bool verbose=false, bool quit_early=true)
	Check if a path exists between every pair of free_cells.
PoseList	createPosesOutsideCostmap (const nav_core2::Costmap &costmap)
	Create a list of poses that are outside the costmap's bounds.
void	groupCells (const nav_core2::Costmap &costmap, PoseList &free_cells, PoseList &occupied_cells, bool include_edges=true)
	Populate two lists of poses from a costmap. one with all the free cells, the other with all the occupied cells.
bool	hasCompleteCoverage (nav_core2::GlobalPlanner &planner, const nav_core2::Costmap &costmap, int max_failure_cases=10, bool check_exception_type=true, bool verbose=false, bool quit_early=true)
	Run a bunch of tests, assuming there is a valid path from any free cell to any other free cell.
bool	hasNoPaths (nav_core2::GlobalPlanner &planner, const nav_core2::Costmap &costmap, bool check_exception_type=true, bool verbose=false, bool quit_early=true)
	Run a bunch of tests, assuming there are no valid paths from any free cell to any other free cell.
bool	many_map_test_suite (nav_core2::GlobalPlanner &planner, TFListenerPtr tf, const std::string &planner_name, const std::string &maps_list_filename="package://global_planner_tests/config/standard_tests.yaml", bool check_exception_type=true, bool verbose=false, bool quit_early=true)
	Run a collection of global_planner_tests on the provided maps.
bool	planExists (nav_core2::GlobalPlanner &planner, nav_2d_msgs::Pose2DStamped start, nav_2d_msgs::Pose2DStamped goal)
	Simple check to see if a plan exists. Returns a boolean instead of returning path or throwing an exception.
std::string	resolve_filename (const std::string &filename)
	Replace a package:// prefix with the actual path to the given package.
PoseList	subsetPoseList (const PoseList &cells, unsigned int num_cells)
	Create a new list of poses from cells that is num_cells long.

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Function Documentation

bool global_planner_tests::checkOccupiedPathCoverage	(	nav_core2::GlobalPlanner &	planner,
		const PoseList &	start_cells,
		const PoseList &	goal_cells,
		const std::string &	test_name,
		bool	check_exception_type = true,
		bool	verbose = false,
		bool	quit_early = true,
		bool	invalid_starts = true
	)

Check if the appropriate exception is thrown when attempting to plan to or from an occupied cell.

This attempts plans from every start_cell to every goal_cell. We want to test three different modes * Occupied cell to free cell * Free cell to occupied cell * Occupied cell to occupied cell

In the first case, the start cell is invalid (invalid_starts=true) and we expect OccupiedStartException to be thrown In the second, the goal cell is invalid (invalid_starts=false) and we expect OccupiedGoalException In the third, both are invalid, so we don't check the precise exception type (check_exception_type=false)

Parameters:

planner	The planner
start_cells	poses to try to plan from
goal_cells	poses to try to plan to
test_name	name of this test configuration for verbose printing
check_exception_type	If true, requires that OccupiedStartException/OccupiedGoalException thrown appropriately
verbose	If true, will print statistics at the end
quit_early	Will stop running tests once there is one failure
invalid_starts	Whether the start poses are invalid. Otherwise its the goals

Returns:

False if there is a single failure

Definition at line 167 of file global_planner_tests.cpp.

bool global_planner_tests::checkOutOfBoundsPathCoverage	(	nav_core2::GlobalPlanner &	planner,
		const PoseList &	start_cells,
		const PoseList &	goal_cells,
		const std::string &	test_name,
		bool	check_exception_type = true,
		bool	verbose = false,
		bool	quit_early = true,
		bool	invalid_starts = true
	)

Check if the appropriate exception is thrown when attempting to plan to or from a pose off the costmap.

This attempts plans from every start_cell to every goal_cell. We want to test three different modes * OutOfBounds cell to free cell * Free cell to OutOfBounds cell * OutOfBounds cell to OutOfBounds cell

In the first case, the start cell is invalid (invalid_starts=true) and we expect StartBoundsException to be thrown In the second, the goal cell is invalid (invalid_starts=false) and we expect GoalBoundsException In the third, both are invalid, so we don't check the precise exception type (check_exception_type=false)

Parameters:

planner	The planner
start_cells	poses to try to plan from
goal_cells	poses to try to plan to
test_name	name of this test configuration for verbose printing
check_exception_type	If true, requires that StartBoundsException/GoalBoundsException thrown appropriately
verbose	If true, will print statistics at the end
quit_early	Will stop running tests once there is one failure
invalid_starts	Whether the start poses are invalid. Otherwise its the goals

Returns:

False if there is a single failure

Definition at line 224 of file global_planner_tests.cpp.

bool global_planner_tests::checkValidPathCoverage	(	nav_core2::GlobalPlanner &	planner,
		const PoseList &	free_cells,
		bool	verbose = false,
		bool	quit_early = true
	)

Check if a path exists between every pair of free_cells.

Parameters:

planner	The planner
free_cells	List of poses to check
verbose	If true, will print statistics at the end
quit_early	Will stop running tests once there is one failure

Returns:

False if there is a single failure

Definition at line 137 of file global_planner_tests.cpp.

PoseList global_planner_tests::createPosesOutsideCostmap

(

const nav_core2::Costmap &

costmap

)

Create a list of poses that are outside the costmap's bounds.

Parameters:

costmap

Source of the bounds data

Returns:

vector of four poses that are outside of the costmap's bounds

Definition at line 69 of file global_planner_tests.cpp.

void global_planner_tests::groupCells	(	const nav_core2::Costmap &	costmap,
		PoseList &	free_cells,
		PoseList &	occupied_cells,
		bool	include_edges = true
	)

Populate two lists of poses from a costmap. one with all the free cells, the other with all the occupied cells.

Parameters:

costmap	Source of the cells
free_cells	Output parameter with one pose in every free cell of the costmap
occupied_cells	Output parameter with one pose in every occupied cell of the costmap
include_edges	True if you want to include the cells on the border of the costmap

For simplicity, the edge cells are ignored, meaning planners need not implement robust boundary checking

Definition at line 42 of file global_planner_tests.cpp.

bool global_planner_tests::hasCompleteCoverage	(	nav_core2::GlobalPlanner &	planner,
		const nav_core2::Costmap &	costmap,
		int	max_failure_cases = 10,
		bool	check_exception_type = true,
		bool	verbose = false,
		bool	quit_early = true
	)

Run a bunch of tests, assuming there is a valid path from any free cell to any other free cell.

Calls checkValidPathCoverage(), checkOccupiedPathCoverage() and checkOutOfBoundsPathCoverage()

The first checks if there is a path between every set of free cells. It's likely a bit of overkill to check for the exceptions getting thrown for every combination of free/occupied/OutOfBounds cells. Hence, for the latter two, we limit our tests to a subset of the poses. If N=max_failure_cases, we check between combinations of N free cells, N occupied cells and 4 OutOfBounds cells.

We also allow for none of the tests to check the exact exception type in case you want to use this to test a nav_core planner with the nav_core_adapter (which just throws the generic PlannerException whenever path planning fails)

Parameters:

planner	The planner
costmap	Costmap to get poses from
max_failure_cases	Number of poses to limit our lists to when checking for path planning failures
check_exception_type	If true, requires the correct exception thrown
verbose	If true, will print statistics at the end
quit_early	Will stop running tests once there is one failure

Returns:

False if there is a single failure

Definition at line 282 of file global_planner_tests.cpp.

bool global_planner_tests::hasNoPaths	(	nav_core2::GlobalPlanner &	planner,
		const nav_core2::Costmap &	costmap,
		bool	check_exception_type = true,
		bool	verbose = false,
		bool	quit_early = true
	)

Run a bunch of tests, assuming there are no valid paths from any free cell to any other free cell.

Parameters:

planner	The planner
costmap	Costmap to get poses from
check_exception_type	If true, requires the correct exception thrown
verbose	If true, will print statistics at the end
quit_early	Will stop running tests once there is one failure

Returns:

False if there is a single failure

Definition at line 345 of file global_planner_tests.cpp.

bool global_planner_tests::many_map_test_suite	(	nav_core2::GlobalPlanner &	planner,
		TFListenerPtr	tf,
		const std::string &	planner_name,
		const std::string &	maps_list_filename = "package://global_planner_tests/config/standard_tests.yaml",
		bool	check_exception_type = true,
		bool	verbose = false,
		bool	quit_early = true
	)

Run a collection of global_planner_tests on the provided maps.

Parameters:

planner	The planner
tf	Used when initializing the planner
planner_name	Used when initializing the planner
maps_list_filename	Filename to load the list of provided maps from
check_exception_type	If true, requires the correct exception thrown
verbose	If true, will print statistics at the end
quit_early	Will stop running tests once there is one failure

Returns:

False if there is a single failure

Definition at line 45 of file many_map_test_suite.cpp.

bool global_planner_tests::planExists	(	nav_core2::GlobalPlanner &	planner,
		nav_2d_msgs::Pose2DStamped	start,
		nav_2d_msgs::Pose2DStamped	goal
	)

Simple check to see if a plan exists. Returns a boolean instead of returning path or throwing an exception.

Parameters:

planner	The planner
start	Starting pose
goal	Goal pose

Definition at line 124 of file global_planner_tests.cpp.

std::string global_planner_tests::resolve_filename

(

const std::string &

filename

)

Replace a package:// prefix with the actual path to the given package.

This is a quick dirty way to resolve package names to strings. The alternative is resource_retriever, but that returns a file object as opposed to the updated filename.

Parameters:

filename

input file path

Returns:

updated file path

Definition at line 43 of file util.cpp.

PoseList global_planner_tests::subsetPoseList	(	const PoseList &	cells,
		unsigned int	num_cells
	)

Create a new list of poses from cells that is num_cells long.

Parameters:

cells	Source list of cells
num_cells	Number of cells that should be in the return list

Returns:

vector of poses populated from cells

Definition at line 90 of file global_planner_tests.cpp.