test_planner_3d_cost.cpp

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#include <list>
#include <vector>
 
#include <costmap_cspace_msgs/MapMetaData3D.h>
#include <planner_cspace/planner_3d/grid_astar_model.h>
 
#include <gtest/gtest.h>
 
namespace planner_cspace
{
namespace planner_3d
{
TEST(GridAstarModel3D, Cost)
{
  costmap_cspace_msgs::MapMetaData3D map_info;
  map_info.width = 100;
  map_info.height = 100;
  map_info.angle = 16;
  map_info.linear_resolution = 1.0;
  map_info.angular_resolution = M_PI * 2 / map_info.angle;
  BlockMemGridmap<char, 3, 2, 0x40> cm(GridAstarModel3D::Vec(100, 100, 16));
  BlockMemGridmap<float, 3, 2> cost_estim_cache(GridAstarModel3D::Vec(100, 100, 16));
  cm.clear(0);
  cost_estim_cache.clear(0.0);
  CostCoeff cc;
  cc.weight_decel_ = 0.1;
  cc.weight_backward_ = 0.1;
  cc.weight_ang_vel_ = 1.0;
  cc.weight_costmap_ = 0.1;
  cc.weight_costmap_turn_ = 0.1;
  cc.weight_remembered_ = 0.0;
  cc.weight_hysteresis_ = 0.0;
  cc.in_place_turn_ = 0.0;
  cc.hysteresis_max_dist_ = 0.0;
  cc.hysteresis_expand_ = 0.0;
  cc.min_curve_radius_ = 0.0;
  cc.max_vel_ = 1.0;
  cc.max_ang_vel_ = 1.0;
  cc.angle_resolution_aspect_ = 1.0;
  cc.turn_penalty_cost_threshold_ = 0;
 
  GridAstarModel3D model(
      map_info,
      GridAstarModel3D::Vecf(1.0f, 1.0f, 0.1f),
      100.0,
      cost_estim_cache, cm, cm, cm,
      cc, 10);
 
  const GridAstarModel3D::Vec start(54, 50, 8);
  const GridAstarModel3D::Vec goal_straight(50, 50, 8);
  const GridAstarModel3D::Vec goal_curve(50, 50, 7);
  const GridAstarModel3D::Vec goal_drift(50, 51, 8);
  const GridAstarModel3D::Vec goal_curve_drift(50, 51, 7);
  const GridAstarModel3D::Vec goal_curve_sign_err(50, 51, 9);
  std::vector<GridAstarModel3D::VecWithCost> starts;
  starts.emplace_back(start);
 
  const float c_straight = model.cost(start, goal_straight, starts, goal_straight);
  const float c_curve = model.cost(start, goal_curve, starts, goal_curve);
  const float c_drift = model.cost(start, goal_drift, starts, goal_drift);
  const float c_drift_curve = model.cost(start, goal_curve_drift, starts, goal_curve_drift);
 
  EXPECT_LT(c_straight, c_curve);
  EXPECT_LT(c_straight, c_drift);
  EXPECT_LT(c_straight, c_drift_curve);
 
  // These tests are added to confirm that some bugs are fixed by https://github.com/at-wat/neonavigation/pull/725
  const GridAstarModel3D::Vec start2(5, 5, 0);
  const GridAstarModel3D::Vec occupied_waypoint(10, 5, 0);
  const GridAstarModel3D::Vec goal2(10, 5, 3);
  cm[occupied_waypoint] = 100;
  // The cost toward the occupied cell should be negative.
  EXPECT_LT(model.cost(start2, occupied_waypoint, {GridAstarModel3D::VecWithCost(start2)}, occupied_waypoint), 0);
  // The cost from the occupied cell should be negative.
  EXPECT_LT(model.cost(occupied_waypoint, goal2, {GridAstarModel3D::VecWithCost(occupied_waypoint)}, goal2), 0);
 
  const GridAstarModel3D::Vec start3(10, 20, 0);
  cm[start3] = 99;
  const GridAstarModel3D::Vec waypoint3(10, 20, 3);
  const GridAstarModel3D::Vec goal3(10, 20, 6);
  // The cost between start3 and waypoint3 is larger than the cost between waypoint3 and goal3 because start3
  // has a penalty.
  EXPECT_GT(model.cost(start3, waypoint3, {GridAstarModel3D::VecWithCost(start3)}, waypoint3),
            model.cost(waypoint3, goal3, {GridAstarModel3D::VecWithCost(waypoint3)}, goal3));
}
}  // namespace planner_3d
}  // namespace planner_cspace
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
 
  return RUN_ALL_TESTS();
}