global_planner_tests.h

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#ifndef GLOBAL_PLANNER_TESTS_GLOBAL_PLANNER_TESTS_H
#define GLOBAL_PLANNER_TESTS_GLOBAL_PLANNER_TESTS_H

#include <nav_core2/global_planner.h>
#include <string>
#include <vector>
#include <utility>

namespace global_planner_tests
{

using PoseList = std::vector<nav_2d_msgs::Pose2DStamped>;

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

PoseList createPosesOutsideCostmap(const nav_core2::Costmap& costmap);

PoseList subsetPoseList(const PoseList& cells, unsigned int num_cells);

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

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

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);

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);

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);

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

#endif  // GLOBAL_PLANNER_TESTS_GLOBAL_PLANNER_TESTS_H