test_grid_utils.cpp File Reference

#include <occupancy_grid_utils/ray_tracer.h>
#include <occupancy_grid_utils/exceptions.h>
#include <occupancy_grid_utils/shortest_path.h>
#include <occupancy_grid_utils/combine_grids.h>
#include <occupancy_grid_utils/geometry.h>
#include <gtest/gtest.h>
#include <tf/transform_datatypes.h>
#include <ros/ros.h>
#include <iostream>
#include <boost/foreach.hpp>
#include <boost/bind.hpp>
#include <boost/assign.hpp>
#include <cmath>

Include dependency graph for test_grid_utils.cpp:

Go to the source code of this file.

Classes
struct	CloseTo
Namespaces
namespace	geometry_msgs
Typedefs
typedef set< Cell >	Cells
typedef boost::shared_ptr < nm::OccupancyGrid const >	GridConstPtr
typedef boost::shared_ptr < nm::OccupancyGrid >	GridPtr
typedef vector< Cell >	Path
Functions
double	angle (const double x1, const double y1, const double x2, const double y2)
bool	approxEqual (const double x, const double y)
float	dist (const gu::DistanceField &d, int x, int y)
template<class T >
bool	equalSets (const set< T > &s1, const set< T > &s2)
gm::Point	lastPoint (const nm::MapMetaData &info, const gu::RayTraceIterRange &r)
int	main (int argc, char **argv)
gm::Point	makePoint (const double x, const double y)
gm::Point32	makePoint32 (const double x, const double y)
gm::Pose	makePose (const double x, const double y, const double theta)
double	norm (const double x, const double y)
bool	not_pred (const Cell &c)
template<class T >
ostream &	operator<< (ostream &str, const vector< T > &s)
template<class T >
ostream &	operator<< (ostream &str, const set< T > &s)
ostream &	operator<< (ostream &str, const gm::Point &p)
bool	geometry_msgs::operator== (const Polygon &p1, const Polygon &p2)
bool	pred (const Cell &c)
bool	samePath (const Path &p1, const Path &p2)
void	setOccupied (nm::OccupancyGrid *g, const unsigned x, const unsigned y)
void	setOccupied (GridPtr g, const unsigned x, const unsigned y)
void	setVal (nm::OccupancyGrid *g, const gu::coord_t x, const gu::coord_t y, const int v)
	TEST (GridUtils, CoordinateConversions)
	TEST (GridUtils, DistanceField)
	TEST (GridUtils, RayTrace)
	TEST (GridUtils, GridOverlay)
	TEST (GridUtils, SimulateScan)
	TEST (GridUtils, ShortestPath)
	TEST (GridUtils, InflateObstacles)
	TEST (GridUtils, Geometry)
	TEST (GridUtils, CombineGrids)
int	val (const nm::OccupancyGrid &g, const gu::coord_t x, const gu::coord_t y)
Variables
const double	PI = 3.14159265
const double	TOL = 1e-6

---

Typedef Documentation

typedef set<Cell> Cells

Definition at line 64 of file test_grid_utils.cpp.

typedef boost::shared_ptr<nm::OccupancyGrid const> GridConstPtr

Definition at line 66 of file test_grid_utils.cpp.

typedef boost::shared_ptr<nm::OccupancyGrid> GridPtr

Definition at line 65 of file test_grid_utils.cpp.

typedef vector<Cell> Path

Definition at line 63 of file test_grid_utils.cpp.

---

Function Documentation

double angle	(	const double	x1,
		const double	y1,
		const double	x2,
		const double	y2
	)

Definition at line 188 of file test_grid_utils.cpp.

bool approxEqual	(	const double	x,
		const double	y
	)

Definition at line 104 of file test_grid_utils.cpp.

float dist	(	const gu::DistanceField &	d,
		int	x,
		int	y
	)

Definition at line 203 of file test_grid_utils.cpp.

template<class T >

bool equalSets	(	const set< T > &	s1,
		const set< T > &	s2
	)

Definition at line 89 of file test_grid_utils.cpp.

gm::Point lastPoint	(	const nm::MapMetaData &	info,
		const gu::RayTraceIterRange &	r
	)

Definition at line 271 of file test_grid_utils.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 712 of file test_grid_utils.cpp.

gm::Point makePoint	(	const double	x,
		const double	y
	)

Definition at line 155 of file test_grid_utils.cpp.

gm::Point32 makePoint32	(	const double	x,
		const double	y
	)

Definition at line 163 of file test_grid_utils.cpp.

gm::Pose makePose	(	const double	x,
		const double	y,
		const double	theta
	)

Definition at line 194 of file test_grid_utils.cpp.

double norm	(	const double	x,
		const double	y
	)

Definition at line 171 of file test_grid_utils.cpp.

bool not_pred

(

const Cell &

c

)

Definition at line 600 of file test_grid_utils.cpp.

template<class T >

ostream& operator<<	(	ostream &	str,
		const vector< T > &	s
	)

Definition at line 129 of file test_grid_utils.cpp.

template<class T >

ostream& operator<<	(	ostream &	str,
		const set< T > &	s
	)

Definition at line 139 of file test_grid_utils.cpp.

ostream& operator<<	(	ostream &	str,
		const gm::Point &	p
	)

Definition at line 149 of file test_grid_utils.cpp.

bool pred

(

const Cell &

c

)

Definition at line 590 of file test_grid_utils.cpp.

bool samePath	(	const Path &	p1,
		const Path &	p2
	)

Definition at line 68 of file test_grid_utils.cpp.

void setOccupied	(	nm::OccupancyGrid *	g,
		const unsigned	x,
		const unsigned	y
	)

Definition at line 78 of file test_grid_utils.cpp.

void setOccupied	(	GridPtr	g,
		const unsigned	x,
		const unsigned	y
	)

Definition at line 83 of file test_grid_utils.cpp.

void setVal	(	nm::OccupancyGrid *	g,
		const gu::coord_t	x,
		const gu::coord_t	y,
		const int	v
	)

Definition at line 549 of file test_grid_utils.cpp.

TEST	(	GridUtils	,
		CoordinateConversions
	)

Definition at line 209 of file test_grid_utils.cpp.

TEST	(	GridUtils	,
		DistanceField
	)

Definition at line 245 of file test_grid_utils.cpp.

TEST	(	GridUtils	,
		RayTrace
	)

Definition at line 281 of file test_grid_utils.cpp.

TEST	(	GridUtils	,
		GridOverlay
	)

Definition at line 322 of file test_grid_utils.cpp.

TEST	(	GridUtils	,
		SimulateScan
	)

Definition at line 402 of file test_grid_utils.cpp.

TEST	(	GridUtils	,
		ShortestPath
	)

Definition at line 441 of file test_grid_utils.cpp.

TEST	(	GridUtils	,
		InflateObstacles
	)

Definition at line 557 of file test_grid_utils.cpp.

TEST	(	GridUtils	,
		Geometry
	)

Definition at line 605 of file test_grid_utils.cpp.

TEST	(	GridUtils	,
		CombineGrids
	)

Definition at line 647 of file test_grid_utils.cpp.

int val	(	const nm::OccupancyGrid &	g,
		const gu::coord_t	x,
		const gu::coord_t	y
	)

Definition at line 542 of file test_grid_utils.cpp.

---

Variable Documentation

const double PI = 3.14159265

Definition at line 58 of file test_grid_utils.cpp.

const double TOL = 1e-6

Definition at line 60 of file test_grid_utils.cpp.