#include <ros/ros.h>
#include <nav_core2/exceptions.h>
#include <global_planner_tests/easy_costmap.h>
#include <global_planner_tests/global_planner_tests.h>
#include <dlux_global_planner/dlux_global_planner.h>
#include <nav_grid/coordinate_conversion.h>
#include <gtest/gtest.h>
#include <string>
#include <vector>

Include dependency graph for global_oscillation_test.cpp:

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

bool	pathsEqual (const nav_2d_msgs::Path2D &path_a, const nav_2d_msgs::Path2D &path_b)

void	replanning_test (const std::string &ns, bool expect_different, bool path_caching=false, double improvement_threshold=-1.0)
	Check to see whether path caching is working as expected. More...

void	setBarrier (nav_core2::Costmap &costmap, const unsigned char value)

	TEST (GlobalPlannerReplanning, no_cache)

	TEST (GlobalPlannerReplanning, any_cache)

	TEST (GlobalPlannerReplanning, improve_cache)

	TEST (GlobalPlannerReplanning, big_improve)

Variables
int	barrier_x = 5

int	barrier_y0 = 1

int	barrier_y1 = 4

const std::string	map_path = "package://dlux_plugins/test/robert_frost.png"

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 157 of file global_oscillation_test.cpp.

bool pathsEqual	(	const nav_2d_msgs::Path2D &	path_a,
		const nav_2d_msgs::Path2D &	path_b
	)

Definition at line 59 of file global_oscillation_test.cpp.

void replanning_test	(	const std::string &	ns,
		bool	expect_different,
		bool	path_caching = `false`,
		double	improvement_threshold = `-1.0`
	)

Check to see whether path caching is working as expected.

Parameters

ns	Namespace for patermeters
expect_different	Whether we expected the resulting paths to be different
path_caching	Value for path_caching parameter
improvement_threshold	Value for improvement_threshold parameter

Definition at line 84 of file global_oscillation_test.cpp.

void setBarrier	(	nav_core2::Costmap &	costmap,
		const unsigned char	value
	)

Definition at line 51 of file global_oscillation_test.cpp.

TEST	(	GlobalPlannerReplanning	,
		no_cache
	)

Definition at line 133 of file global_oscillation_test.cpp.

TEST	(	GlobalPlannerReplanning	,
		any_cache
	)

Definition at line 139 of file global_oscillation_test.cpp.

TEST	(	GlobalPlannerReplanning	,
		improve_cache
	)

Definition at line 145 of file global_oscillation_test.cpp.

TEST	(	GlobalPlannerReplanning	,
		big_improve
	)

Definition at line 151 of file global_oscillation_test.cpp.

Variable Documentation

int barrier_x = 5

Definition at line 47 of file global_oscillation_test.cpp.

int barrier_y0 = 1

Definition at line 48 of file global_oscillation_test.cpp.

int barrier_y1 = 4

Definition at line 49 of file global_oscillation_test.cpp.

const std::string map_path = "package://dlux_plugins/test/robert_frost.png"

Definition at line 45 of file global_oscillation_test.cpp.

Functions

Variables

Function Documentation

Variable Documentation