goal_checker.cpp
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34 #include <gtest/gtest.h>
35 #include <dwb_plugins/simple_goal_checker.h>
36 #include <dwb_plugins/stopped_goal_checker.h>
37 
38 using dwb_plugins::SimpleGoalChecker;
39 using dwb_plugins::StoppedGoalChecker;
40 
41 void checkMacro(dwb_local_planner::GoalChecker& gc,
42  double x0, double y0, double theta0,
43  double x1, double y1, double theta1,
44  double xv, double yv, double thetav,
45  bool expected_result)
46 {
47  gc.reset();
48  geometry_msgs::Pose2D pose0, pose1;
49  pose0.x = x0;
50  pose0.y = y0;
51  pose0.theta = theta0;
52  pose1.x = x1;
53  pose1.y = y1;
54  pose1.theta = theta1;
55  nav_2d_msgs::Twist2D v;
56  v.x = xv;
57  v.y = yv;
58  v.theta = thetav;
59  if (expected_result)
60  EXPECT_TRUE(gc.isGoalReached(pose0, pose1, v));
61  else
62  EXPECT_FALSE(gc.isGoalReached(pose0, pose1, v));
63 }
64 
65 void sameResult(dwb_local_planner::GoalChecker& gc0, dwb_local_planner::GoalChecker& gc1,
66  double x0, double y0, double theta0,
67  double x1, double y1, double theta1,
68  double xv, double yv, double thetav,
69  bool expected_result)
70 {
71  checkMacro(gc0, x0, y0, theta0, x1, y1, theta1, xv, yv, thetav, expected_result);
72  checkMacro(gc1, x0, y0, theta0, x1, y1, theta1, xv, yv, thetav, expected_result);
73 }
74 
75 void trueFalse(dwb_local_planner::GoalChecker& gc0, dwb_local_planner::GoalChecker& gc1,
76  double x0, double y0, double theta0,
77  double x1, double y1, double theta1,
78  double xv, double yv, double thetav)
79 {
80  checkMacro(gc0, x0, y0, theta0, x1, y1, theta1, xv, yv, thetav, true);
81  checkMacro(gc1, x0, y0, theta0, x1, y1, theta1, xv, yv, thetav, false);
82 }
83 
84 TEST(VelocityIterator, two_checks)
85 {
86  ros::NodeHandle x;
87  SimpleGoalChecker gc;
88  StoppedGoalChecker sgc;
89  gc.initialize(x);
90  sgc.initialize(x);
91  sameResult(gc, sgc, 0, 0, 0, 0, 0, 0, 0, 0, 0, true);
92  sameResult(gc, sgc, 0, 0, 0, 1, 0, 0, 0, 0, 0, false);
93  sameResult(gc, sgc, 0, 0, 0, 0, 1, 0, 0, 0, 0, false);
94  sameResult(gc, sgc, 0, 0, 0, 0, 0, 1, 0, 0, 0, false);
95  sameResult(gc, sgc, 0, 0, 3.14, 0, 0, -3.14, 0, 0, 0, true);
96  trueFalse(gc, sgc, 0, 0, 3.14, 0, 0, -3.14, 1, 0, 0);
97  trueFalse(gc, sgc, 0, 0, 0, 0, 0, 0, 1, 0, 0);
98  trueFalse(gc, sgc, 0, 0, 0, 0, 0, 0, 0, 1, 0);
99  trueFalse(gc, sgc, 0, 0, 0, 0, 0, 0, 0, 0, 1);
100 }
101 
102 int main(int argc, char **argv)
103 {
104  ros::init(argc, argv, "goal_checker");
105  testing::InitGoogleTest(&argc, argv);
106  return RUN_ALL_TESTS();
107 }
main
int main(int argc, char **argv)
Definition: goal_checker.cpp:102
ros::NodeHandle
dwb_local_planner::GoalChecker
dwb_plugins::StoppedGoalChecker
Goal Checker plugin that checks the position difference and velocity.
Definition: stopped_goal_checker.h:48
sameResult
void sameResult(dwb_local_planner::GoalChecker &gc0, dwb_local_planner::GoalChecker &gc1, double x0, double y0, double theta0, double x1, double y1, double theta1, double xv, double yv, double thetav, bool expected_result)
Definition: goal_checker.cpp:65
checkMacro
void checkMacro(dwb_local_planner::GoalChecker &gc, double x0, double y0, double theta0, double x1, double y1, double theta1, double xv, double yv, double thetav, bool expected_result)
Definition: goal_checker.cpp:41
ros::init
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
dwb_plugins::StoppedGoalChecker::initialize
void initialize(const ros::NodeHandle &nh) override
Definition: stopped_goal_checker.cpp:46
dwb_plugins::SimpleGoalChecker
Goal Checker plugin that only checks the position difference.
Definition: simple_goal_checker.h:51
simple_goal_checker.h
dwb_plugins::SimpleGoalChecker::initialize
void initialize(const ros::NodeHandle &nh) override
Definition: simple_goal_checker.cpp:47
dwb_local_planner::GoalChecker::reset
virtual void reset()
x
TFSIMD_FORCE_INLINE const tfScalar & x() const
stopped_goal_checker.h
TEST
TEST(VelocityIterator, two_checks)
Definition: goal_checker.cpp:84
dwb_local_planner::GoalChecker::isGoalReached
virtual bool isGoalReached(const geometry_msgs::Pose2D &query_pose, const geometry_msgs::Pose2D &goal_pose, const nav_2d_msgs::Twist2D &velocity)=0
trueFalse
void trueFalse(dwb_local_planner::GoalChecker &gc0, dwb_local_planner::GoalChecker &gc1, double x0, double y0, double theta0, double x1, double y1, double theta1, double xv, double yv, double thetav)
Definition: goal_checker.cpp:75

dwb_plugins
Author(s):
autogenerated on Sun Jan 10 2021 04:08:37