#include <map>
#include <cmath>
#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/layered_costmap.h>
#include <costmap_2d/obstacle_layer.h>
#include <costmap_2d/inflation_layer.h>
#include <costmap_2d/observation_buffer.h>
#include <costmap_2d/testing_helper.h>
#include <gtest/gtest.h>

Include dependency graph for inflation_tests.cpp:

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

std::vector< Point >	setRadii (LayeredCostmap &layers, double length, double width, double inflation_radius)

	TEST (costmap, testAdjacentToObstacleCanStillMove)

	TEST (costmap, testInflationShouldNotCreateUnknowns)

	TEST (costmap, testCostFunctionCorrectness)

	TEST (costmap, testInflationOrderCorrectness)

	TEST (costmap, testInflation)

	TEST (costmap, testInflation2)

	TEST (costmap, testInflation3)

void	validatePointInflation (unsigned int mx, unsigned int my, Costmap2D costmap, InflationLayer ilayer, double inflation_radius)

Function Documentation

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 413 of file inflation_tests.cpp.

◆ setRadii()

std::vector<Point> setRadii	(	LayeredCostmap &	layers,
		double	length,
		double	width,
		double	inflation_radius
	)

Definition at line 48 of file inflation_tests.cpp.

◆ TEST() [1/7]

TEST	(	costmap	,
		testAdjacentToObstacleCanStillMove
	)

Definition at line 137 of file inflation_tests.cpp.

◆ TEST() [2/7]

TEST	(	costmap	,
		testInflationShouldNotCreateUnknowns
	)

Definition at line 163 of file inflation_tests.cpp.

◆ TEST() [3/7]

TEST	(	costmap	,
		testCostFunctionCorrectness
	)

Test for the cost function correctness with a larger range and different values

Definition at line 188 of file inflation_tests.cpp.

◆ TEST() [4/7]

TEST	(	costmap	,
		testInflationOrderCorrectness
	)

Test that there is no regression and that costs do not get underestimated with the distance-as-key map used to replace the previously used priority queue. This is a more thorough test of the cost function being correctly applied.

Definition at line 256 of file inflation_tests.cpp.

◆ TEST() [5/7]

TEST	(	costmap	,
		testInflation
	)

Test inflation for both static and dynamic obstacles

Definition at line 284 of file inflation_tests.cpp.

◆ TEST() [6/7]

TEST	(	costmap	,
		testInflation2
	)

Test specific inflation scenario to ensure we do not set inflated obstacles to be raw obstacles.

Definition at line 348 of file inflation_tests.cpp.

◆ TEST() [7/7]

TEST	(	costmap	,
		testInflation3
	)

Test inflation behavior, starting with an empty map

Definition at line 377 of file inflation_tests.cpp.

◆ validatePointInflation()

void validatePointInflation	(	unsigned int	mx,
		unsigned int	my,
		Costmap2D *	costmap,
		InflationLayer *	ilayer,
		double	inflation_radius
	)

Definition at line 73 of file inflation_tests.cpp.

Functions