#include <gtest/gtest.h>#include <time.h>#include <fstream>#include <iostream>#include <ros/package.h>#include "steering_functions/dubins_state_space/dubins_state_space.hpp"#include "steering_functions/hc_cc_state_space/cc00_dubins_state_space.hpp"#include "steering_functions/hc_cc_state_space/cc00_reeds_shepp_state_space.hpp"#include "steering_functions/hc_cc_state_space/cc0pm_dubins_state_space.hpp"#include "steering_functions/hc_cc_state_space/cc_dubins_state_space.hpp"#include "steering_functions/hc_cc_state_space/ccpm0_dubins_state_space.hpp"#include "steering_functions/hc_cc_state_space/ccpmpm_dubins_state_space.hpp"#include "steering_functions/hc_cc_state_space/hc00_reeds_shepp_state_space.hpp"#include "steering_functions/hc_cc_state_space/hc0pm_reeds_shepp_state_space.hpp"#include "steering_functions/hc_cc_state_space/hc_reeds_shepp_state_space.hpp"#include "steering_functions/hc_cc_state_space/hcpm0_reeds_shepp_state_space.hpp"#include "steering_functions/hc_cc_state_space/hcpmpm_reeds_shepp_state_space.hpp"#include "steering_functions/reeds_shepp_state_space/reeds_shepp_state_space.hpp"#include "steering_functions/steering_functions.hpp"
Go to the source code of this file.
Classes | |
| struct | Statistic |
Macros | |
| #define | ALPHA1 0.1 |
| #define | ALPHA2 0.05 |
| #define | ALPHA3 0.05 |
| #define | ALPHA4 0.1 |
| #define | DISCRETIZATION 0.1 |
| #define | EPS_KAPPA 1e-3 |
| #define | K1 1.5 |
| #define | K2 0.25 |
| #define | K3 1.0 |
| #define | KAPPA 1.0 |
| #define | OPERATING_REGION_THETA 2 * M_PI |
| #define | OPERATING_REGION_X 20.0 |
| #define | OPERATING_REGION_Y 20.0 |
| #define | random(lower, upper) (rand() * (upper - lower) / RAND_MAX + lower) |
| #define | SAMPLES 1e5 |
| #define | SIGMA 1.0 |
| #define | STD_THETA 0.05 |
| #define | STD_X 0.1 |
| #define | STD_Y 0.1 |
Functions | |
| vector< Statistic > | get_controls (const string &id, const vector< State > &starts, const vector< State > &goals) |
| int | get_curv_discont (const vector< Control > &controls) |
| double | get_mean (const vector< double > &v) |
| vector< Statistic > | get_path (const string &id, const vector< State > &starts, const vector< State > &goals) |
| vector< Statistic > | get_path_with_covariance (const string &id, const vector< State_With_Covariance > &starts, const vector< State > &goals) |
| State | get_random_state () |
| double | get_std (const vector< double > &v) |
| int | main (int argc, char **argv) |
| TEST (Timing, getControls) | |
| TEST (Timing, getPath) | |
| TEST (Timing, getPathWithCovariance) | |
| void | write_to_file (const string &id, const vector< Statistic > &stats) |
Macro Definition Documentation
◆ ALPHA1
| #define ALPHA1 0.1 |
Definition at line 48 of file timing_test.cpp.
◆ ALPHA2
| #define ALPHA2 0.05 |
Definition at line 49 of file timing_test.cpp.
◆ ALPHA3
| #define ALPHA3 0.05 |
Definition at line 50 of file timing_test.cpp.
◆ ALPHA4
| #define ALPHA4 0.1 |
Definition at line 51 of file timing_test.cpp.
◆ DISCRETIZATION
| #define DISCRETIZATION 0.1 |
Definition at line 43 of file timing_test.cpp.
◆ EPS_KAPPA
| #define EPS_KAPPA 1e-3 |
Definition at line 40 of file timing_test.cpp.
◆ K1
| #define K1 1.5 |
Definition at line 55 of file timing_test.cpp.
◆ K2
| #define K2 0.25 |
Definition at line 56 of file timing_test.cpp.
◆ K3
| #define K3 1.0 |
Definition at line 57 of file timing_test.cpp.
◆ KAPPA
| #define KAPPA 1.0 |
Definition at line 41 of file timing_test.cpp.
◆ OPERATING_REGION_THETA
| #define OPERATING_REGION_THETA 2 * M_PI |
Definition at line 47 of file timing_test.cpp.
◆ OPERATING_REGION_X
| #define OPERATING_REGION_X 20.0 |
Definition at line 45 of file timing_test.cpp.
◆ OPERATING_REGION_Y
| #define OPERATING_REGION_Y 20.0 |
Definition at line 46 of file timing_test.cpp.
◆ random
| #define random | ( | lower, | |
| upper | |||
| ) | (rand() * (upper - lower) / RAND_MAX + lower) |
Definition at line 58 of file timing_test.cpp.
◆ SAMPLES
| #define SAMPLES 1e5 |
Definition at line 44 of file timing_test.cpp.
◆ SIGMA
| #define SIGMA 1.0 |
Definition at line 42 of file timing_test.cpp.
◆ STD_THETA
| #define STD_THETA 0.05 |
Definition at line 54 of file timing_test.cpp.
◆ STD_X
| #define STD_X 0.1 |
Definition at line 52 of file timing_test.cpp.
◆ STD_Y
| #define STD_Y 0.1 |
Definition at line 53 of file timing_test.cpp.
Function Documentation
◆ get_controls()
| vector<Statistic> get_controls | ( | const string & | id, |
| const vector< State > & | starts, | ||
| const vector< State > & | goals | ||
| ) |
Definition at line 146 of file timing_test.cpp.
◆ get_curv_discont()
| int get_curv_discont | ( | const vector< Control > & | controls | ) |
Definition at line 100 of file timing_test.cpp.
◆ get_mean()
| double get_mean | ( | const vector< double > & | v | ) |
Definition at line 83 of file timing_test.cpp.
◆ get_path()
| vector<Statistic> get_path | ( | const string & | id, |
| const vector< State > & | starts, | ||
| const vector< State > & | goals | ||
| ) |
Definition at line 271 of file timing_test.cpp.
◆ get_path_with_covariance()
| vector<Statistic> get_path_with_covariance | ( | const string & | id, |
| const vector< State_With_Covariance > & | starts, | ||
| const vector< State > & | goals | ||
| ) |
Definition at line 366 of file timing_test.cpp.
◆ get_random_state()
| State get_random_state | ( | ) |
Definition at line 72 of file timing_test.cpp.
◆ get_std()
| double get_std | ( | const vector< double > & | v | ) |
Definition at line 89 of file timing_test.cpp.
◆ main()
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 987 of file timing_test.cpp.
◆ TEST() [1/3]
| TEST | ( | Timing | , |
| getControls | |||
| ) |
Definition at line 464 of file timing_test.cpp.
◆ TEST() [2/3]
| TEST | ( | Timing | , |
| getPath | |||
| ) |
Definition at line 635 of file timing_test.cpp.
◆ TEST() [3/3]
| TEST | ( | Timing | , |
| getPathWithCovariance | |||
| ) |
Definition at line 789 of file timing_test.cpp.
◆ write_to_file()
| void write_to_file | ( | const string & | id, |
| const vector< Statistic > & | stats | ||
| ) |
Definition at line 113 of file timing_test.cpp.
Variable Documentation
◆ cc00_dubins_forwards_ss
| CC00_Dubins_State_Space cc00_dubins_forwards_ss(KAPPA, SIGMA, DISCRETIZATION, true) |
◆ cc00_rs_ss
| CC00_Reeds_Shepp_State_Space cc00_rs_ss(KAPPA, SIGMA, DISCRETIZATION) |
◆ cc0pm_dubins_forwards_ss
| CC0pm_Dubins_State_Space cc0pm_dubins_forwards_ss(KAPPA, SIGMA, DISCRETIZATION, true) |
◆ cc_dubins_forwards_ss
| CC_Dubins_State_Space cc_dubins_forwards_ss(KAPPA, SIGMA, DISCRETIZATION, true) |
◆ ccpm0_dubins_forwards_ss
| CCpm0_Dubins_State_Space ccpm0_dubins_forwards_ss(KAPPA, SIGMA, DISCRETIZATION, true) |
◆ ccpmpm_dubins_forwards_ss
| CCpmpm_Dubins_State_Space ccpmpm_dubins_forwards_ss(KAPPA, SIGMA, DISCRETIZATION, true) |
◆ dubins_backwards_ss
| Dubins_State_Space dubins_backwards_ss(KAPPA, DISCRETIZATION, false) |
◆ dubins_forwards_ss
| Dubins_State_Space dubins_forwards_ss(KAPPA, DISCRETIZATION, true) |
◆ hc00_rs_ss
| HC00_Reeds_Shepp_State_Space hc00_rs_ss(KAPPA, SIGMA, DISCRETIZATION) |
◆ hc0pm_rs_ss
| HC0pm_Reeds_Shepp_State_Space hc0pm_rs_ss(KAPPA, SIGMA, DISCRETIZATION) |
◆ hc_rs_ss
| HC_Reeds_Shepp_State_Space hc_rs_ss(KAPPA, SIGMA, DISCRETIZATION) |
◆ hcpm0_rs_ss
| HCpm0_Reeds_Shepp_State_Space hcpm0_rs_ss(KAPPA, SIGMA, DISCRETIZATION) |
◆ hcpmpm_rs_ss
| HCpmpm_Reeds_Shepp_State_Space hcpmpm_rs_ss(KAPPA, SIGMA, DISCRETIZATION) |