#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/observation_buffer.h>
#include <set>
#include <gtest/gtest.h>
#include <tf/transform_listener.h>

Include dependency graph for module_tests.cpp:

Functions
bool	find (const std::vector< unsigned int > &l, unsigned int n)
const unsigned int	GRID_HEIGHT (10)
const unsigned int	GRID_WIDTH (10)
void	indexToWorld (Costmap2D &map, unsigned int index, double &wx, double &wy)
int	main (int argc, char **argv)
const double	MAX_Z (1.0)
const double	OBSTACLE_RANGE (20.0)
char	printableCost (unsigned char cost)
const double	RAYTRACE_RANGE (20.0)
const double	RESOLUTION (1)
const double	ROBOT_RADIUS (1.0)
	TEST (costmap, testResetForStaticMap)
	TEST (costmap, testCostFunctionCorrectness)
	TEST (costmap, testWaveInterference)
	TEST (costmap, testWindowCopy)
	TEST (costmap, testFullyContainedStaticMapUpdate)
	TEST (costmap, testOverlapStaticMapUpdate)
	TEST (costmap, testRaytracing)
	TEST (costmap, testAdjacentToObstacleCanStillMove)
	TEST (costmap, testInflationShouldNotCreateUnknowns)
	TEST (costmap, testStaticMap)
	TEST (costmap, testDynamicObstacles)
	TEST (costmap, testMultipleAdditions)
	TEST (costmap, testZThreshold)
	TEST (costmap, testInflation)
	TEST (costmap, testInflation2)
	TEST (costmap, testInflation3)
	TEST (costmap, testRaytracing2)
	TEST (costmap, testTrickyPropagation)
const unsigned char	THRESHOLD (100)
const double	WINDOW_LENGTH (10)
unsigned int	worldToIndex (Costmap2D &map, double wx, double wy)
Variables
std::vector< unsigned char >	EMPTY_100_BY_100
std::vector< unsigned char >	EMPTY_10_BY_10
std::vector< unsigned char >	MAP_10_BY_10
const unsigned char	MAP_10_BY_10_CHAR []
std::vector< unsigned char >	MAP_5_BY_5
const unsigned char	MAP_5_BY_5_CHAR []

Function Documentation

bool find	(	const std::vector< unsigned int > &	l,
		unsigned int	n
	)

Definition at line 79 of file module_tests.cpp.

const unsigned int GRID_HEIGHT ( 10 )

const unsigned int GRID_WIDTH ( 10 )

void indexToWorld	(	Costmap2D &	map,
		unsigned int	index,
		double &	wx,
		double &	wy
	)

Definition at line 532 of file module_tests.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 1162 of file module_tests.cpp.

const double MAX_Z ( 1. 0 )

const double OBSTACLE_RANGE ( 20. 0 )

char printableCost ( unsigned char cost )

Definition at line 253 of file module_tests.cpp.

const double RAYTRACE_RANGE ( 20. 0 )

const double RESOLUTION ( 1 )

const double ROBOT_RADIUS ( 1. 0 )

TEST	(	costmap	,
		testResetForStaticMap
	)

Tests the reset method

Definition at line 91 of file module_tests.cpp.

TEST	(	costmap	,
		testCostFunctionCorrectness
	)

Test for the cost function correctness with a larger range and different values

Definition at line 187 of file module_tests.cpp.

TEST	(	costmap	,
		testWaveInterference
	)

Test for wave interference

Definition at line 268 of file module_tests.cpp.

TEST	(	costmap	,
		testWindowCopy
	)

Test for copying a window of a costmap

Definition at line 315 of file module_tests.cpp.

TEST	(	costmap	,
		testFullyContainedStaticMapUpdate
	)

Definition at line 358 of file module_tests.cpp.

TEST	(	costmap	,
		testOverlapStaticMapUpdate
	)

Definition at line 374 of file module_tests.cpp.

TEST	(	costmap	,
		testRaytracing
	)

Test for ray tracing free space

Definition at line 430 of file module_tests.cpp.

TEST	(	costmap	,
		testAdjacentToObstacleCanStillMove
	)

Definition at line 466 of file module_tests.cpp.

TEST	(	costmap	,
		testInflationShouldNotCreateUnknowns
	)

Definition at line 494 of file module_tests.cpp.

TEST	(	costmap	,
		testStaticMap
	)

Definition at line 538 of file module_tests.cpp.

TEST	(	costmap	,
		testDynamicObstacles
	)

Verify that dynamic obstacles are added

Definition at line 609 of file module_tests.cpp.

TEST	(	costmap	,
		testMultipleAdditions
	)

Verify that if we add a point that is already a static obstacle we do not end up with a new ostacle

Definition at line 655 of file module_tests.cpp.

TEST	(	costmap	,
		testZThreshold
	)

Make sure we ignore points outside of our z threshold

Definition at line 692 of file module_tests.cpp.

TEST	(	costmap	,
		testInflation
	)

Test inflation for both static and dynamic obstacles

Definition at line 734 of file module_tests.cpp.

TEST	(	costmap	,
		testInflation2
	)

Test specific inflation scenario to ensure we do not set inflated obstacles to be raw obstacles.

Definition at line 876 of file module_tests.cpp.

TEST	(	costmap	,
		testInflation3
	)

Test inflation behavior, starting with an empty map

Definition at line 911 of file module_tests.cpp.

TEST	(	costmap	,
		testRaytracing2
	)

Test for ray tracing free space

Definition at line 993 of file module_tests.cpp.

TEST	(	costmap	,
		testTrickyPropagation
	)

Within a certian radius of the robot, the cost map most propagate obstacles. This is to avoid a case where a hit on a far obstacle clears inscribed radius around a near one.

Definition at line 1055 of file module_tests.cpp.

const unsigned char THRESHOLD ( 100 )

const double WINDOW_LENGTH ( 10 )

unsigned int worldToIndex	(	Costmap2D &	map,
		double	wx,
		double	wy
	)

Definition at line 526 of file module_tests.cpp.

Variable Documentation

std::vector<unsigned char> EMPTY_100_BY_100

Definition at line 67 of file module_tests.cpp.

std::vector<unsigned char> EMPTY_10_BY_10

Definition at line 66 of file module_tests.cpp.

std::vector<unsigned char> MAP_10_BY_10

Definition at line 65 of file module_tests.cpp.

const unsigned char MAP_10_BY_10_CHAR[]

Initial value:

 {
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 0, 0, 200, 200, 200,
  0, 0, 0, 0, 100, 0, 0, 200, 200, 200,
  0, 0, 0, 0, 100, 0, 0, 200, 200, 200,
  70, 70, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  0, 0, 0, 200, 200, 200, 0, 0, 0, 0,
  0, 0, 0, 0, 0, 0, 0, 255, 255, 255,
  0, 0, 0, 0, 0, 0, 0, 255, 255, 255
}

Definition at line 43 of file module_tests.cpp.

std::vector<unsigned char> MAP_5_BY_5

Definition at line 64 of file module_tests.cpp.

const unsigned char MAP_5_BY_5_CHAR[]

Initial value:

 {
  0, 0, 0, 0, 0,
  0, 0, 0, 0, 0,
  0, 0, 0, 0, 0,
  0, 0, 0, 0, 0,
  0, 0, 0, 0, 0,
}

Definition at line 56 of file module_tests.cpp.

Functions

Variables

Function Documentation

Variable Documentation