planner_test.cpp

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/*
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#include <global_planner_tests/many_map_test_suite.h>
#include <dlux_global_planner/dlux_global_planner.h>
#include <ros/ros.h>
#include <gtest/gtest.h>
#include <string>

using global_planner_tests::many_map_test_suite;
using dlux_global_planner::DluxGlobalPlanner;

void dlux_test(std::string ns, std::string potential_calculator = "", std::string traceback = "")
{
  TFListenerPtr tf = std::make_shared<tf::TransformListener>(ros::Duration(10));
  DluxGlobalPlanner planner;

  ros::NodeHandle nh("~/" + ns);
  if (potential_calculator.length() > 0)
    nh.setParam("potential_calculator", potential_calculator);
  if (traceback.length() > 0)
    nh.setParam("traceback", traceback);
  EXPECT_TRUE(many_map_test_suite(planner, tf, ns)) << potential_calculator << " " + traceback;
}

TEST(GlobalPlanner, AStarVon)
{
  dlux_test("AStarVon", "dlux_plugins::AStar", "dlux_plugins::VonNeumannPath");
}

TEST(GlobalPlanner, AStarGrid)
{
  dlux_test("AStarGrid", "dlux_plugins::AStar", "dlux_plugins::GridPath");
}

TEST(GlobalPlanner, AStarGradient)
{
  dlux_test("AStarGradient", "dlux_plugins::AStar", "dlux_plugins::GradientPath");
}

TEST(GlobalPlanner, DijkstraVon)
{
  dlux_test("DijkstraVon", "dlux_plugins::Dijkstra", "dlux_plugins::VonNeumannPath");
}

TEST(GlobalPlanner, DijkstraGrid)
{
  dlux_test("DijkstraGrid", "dlux_plugins::Dijkstra", "dlux_plugins::GridPath");
}

TEST(GlobalPlanner, DijkstraGradient)
{
  dlux_test("DijkstraGradient", "dlux_plugins::Dijkstra", "dlux_plugins::GradientPath");
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "planner_tests");
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}