#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/layered_costmap.h>
#include <costmap_2d/observation_buffer.h>
#include <costmap_2d/testing_helper.h>
#include <set>
#include <gtest/gtest.h>

Include dependency graph for obstacle_tests.cpp:

Functions
int	main (int argc, char **argv)

	TEST (costmap, testDynamicObstacles)

	TEST (costmap, testMultipleAdditions)

	TEST (costmap, testRaytracing)

	TEST (costmap, testRaytracing2)

	TEST (costmap, testWaveInterference)

	TEST (costmap, testZThreshold)

Function Documentation

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 247 of file obstacle_tests.cpp.

◆ TEST() [1/6]

TEST	(	costmap	,
		testDynamicObstacles
	)

Verify that dynamic obstacles are added

Definition at line 203 of file obstacle_tests.cpp.

◆ TEST() [2/6]

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 229 of file obstacle_tests.cpp.

◆ TEST() [3/6]

TEST	(	costmap	,
		testRaytracing
	)

Test for ray tracing free space

Definition at line 73 of file obstacle_tests.cpp.

◆ TEST() [4/6]

TEST	(	costmap	,
		testRaytracing2
	)

Test for ray tracing free space

Definition at line 96 of file obstacle_tests.cpp.

◆ TEST() [5/6]

TEST	(	costmap	,
		testWaveInterference
	)

Test for wave interference

Definition at line 152 of file obstacle_tests.cpp.

◆ TEST() [6/6]

TEST	(	costmap	,
		testZThreshold
	)

Make sure we ignore points outside of our z threshold

Definition at line 181 of file obstacle_tests.cpp.

Functions