footprint_tests.cpp
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 * Author: Dave Hershberger
00036 *********************************************************************/
00037 #include <gtest/gtest.h>
00038 #include <ros/ros.h>
00039 #include <costmap_2d/costmap_2d_ros.h>
00040 
00041 using namespace costmap_2d;
00042 
00043 tf::TransformListener* tf_;
00044 
00045 TEST( Costmap2DROS, unpadded_footprint_from_string_param )
00046 {
00047   Costmap2DROS cm( "unpadded/string", *tf_ );
00048   std::vector<geometry_msgs::Point> footprint = cm.getRobotFootprint();
00049   EXPECT_EQ( 3, footprint.size() );
00050 
00051   EXPECT_EQ( 1.0f, footprint[ 0 ].x );
00052   EXPECT_EQ( 1.0f, footprint[ 0 ].y );
00053   EXPECT_EQ( 0.0f, footprint[ 0 ].z );
00054 
00055   EXPECT_EQ( -1.0f, footprint[ 1 ].x );
00056   EXPECT_EQ( 1.0f, footprint[ 1 ].y );
00057   EXPECT_EQ( 0.0f, footprint[ 1 ].z );
00058 
00059   EXPECT_EQ( -1.0f, footprint[ 2 ].x );
00060   EXPECT_EQ( -1.0f, footprint[ 2 ].y );
00061   EXPECT_EQ( 0.0f, footprint[ 2 ].z );
00062 }
00063 
00064 TEST( Costmap2DROS, padded_footprint_from_string_param )
00065 {
00066   Costmap2DROS cm( "padded/string", *tf_ );
00067   std::vector<geometry_msgs::Point> footprint = cm.getRobotFootprint();
00068   EXPECT_EQ( 3, footprint.size() );
00069 
00070   EXPECT_EQ( 1.5f, footprint[ 0 ].x );
00071   EXPECT_EQ( 1.5f, footprint[ 0 ].y );
00072   EXPECT_EQ( 0.0f, footprint[ 0 ].z );
00073 
00074   EXPECT_EQ( -1.5f, footprint[ 1 ].x );
00075   EXPECT_EQ( 1.5f, footprint[ 1 ].y );
00076   EXPECT_EQ( 0.0f, footprint[ 1 ].z );
00077 
00078   EXPECT_EQ( -1.5f, footprint[ 2 ].x );
00079   EXPECT_EQ( -1.5f, footprint[ 2 ].y );
00080   EXPECT_EQ( 0.0f, footprint[ 2 ].z );
00081 }
00082 
00083 TEST( Costmap2DROS, radius_param )
00084 {
00085   Costmap2DROS cm( "radius/sub", *tf_ );
00086   std::vector<geometry_msgs::Point> footprint = cm.getRobotFootprint();
00087   // Circular robot has 16-point footprint auto-generated.
00088   EXPECT_EQ( 16, footprint.size() );
00089 
00090   // Check the first point
00091   EXPECT_EQ( 10.0f, footprint[ 0 ].x );
00092   EXPECT_EQ( 0.0f, footprint[ 0 ].y );
00093   EXPECT_EQ( 0.0f, footprint[ 0 ].z );
00094 
00095   // Check the 4th point, which should be 90 degrees around the circle from the first.
00096   EXPECT_NEAR( 0.0f, footprint[ 4 ].x, 0.0001 );
00097   EXPECT_NEAR( 10.0f, footprint[ 4 ].y, 0.0001 );
00098   EXPECT_EQ( 0.0f, footprint[ 4 ].z );
00099 }
00100 
00101 TEST( Costmap2DROS, footprint_from_xmlrpc_param )
00102 {
00103   Costmap2DROS cm( "xmlrpc", *tf_ );
00104   std::vector<geometry_msgs::Point> footprint = cm.getRobotFootprint();
00105   EXPECT_EQ( 4, footprint.size() );
00106 
00107   EXPECT_EQ( 0.1f, footprint[ 0 ].x );
00108   EXPECT_EQ( 0.1f, footprint[ 0 ].y );
00109   EXPECT_EQ( 0.0f, footprint[ 0 ].z );
00110 
00111   EXPECT_EQ( -0.1f, footprint[ 1 ].x );
00112   EXPECT_EQ( 0.1f, footprint[ 1 ].y );
00113   EXPECT_EQ( 0.0f, footprint[ 1 ].z );
00114 
00115   EXPECT_EQ( -0.1f, footprint[ 2 ].x );
00116   EXPECT_EQ( -0.1f, footprint[ 2 ].y );
00117   EXPECT_EQ( 0.0f, footprint[ 2 ].z );
00118 
00119   EXPECT_EQ( 0.1f, footprint[ 3 ].x );
00120   EXPECT_EQ( -0.1f, footprint[ 3 ].y );
00121   EXPECT_EQ( 0.0f, footprint[ 3 ].z );
00122 }
00123 
00124 TEST( Costmap2DROS, footprint_from_same_level_param )
00125 {
00126   Costmap2DROS cm( "same_level", *tf_ );
00127   std::vector<geometry_msgs::Point> footprint = cm.getRobotFootprint();
00128   EXPECT_EQ( 3, footprint.size() );
00129 
00130   EXPECT_EQ( 1.0f, footprint[ 0 ].x );
00131   EXPECT_EQ( 2.0f, footprint[ 0 ].y );
00132   EXPECT_EQ( 0.0f, footprint[ 0 ].z );
00133 
00134   EXPECT_EQ( 3.0f, footprint[ 1 ].x );
00135   EXPECT_EQ( 4.0f, footprint[ 1 ].y );
00136   EXPECT_EQ( 0.0f, footprint[ 1 ].z );
00137 
00138   EXPECT_EQ( 5.0f, footprint[ 2 ].x );
00139   EXPECT_EQ( 6.0f, footprint[ 2 ].y );
00140   EXPECT_EQ( 0.0f, footprint[ 2 ].z );
00141 }
00142 
00143 TEST( Costmap2DROS, footprint_from_xmlrpc_param_failure )
00144 {
00145   ASSERT_ANY_THROW( Costmap2DROS cm( "xmlrpc_fail", *tf_ ));
00146 }
00147 
00148 TEST( Costmap2DROS, footprint_empty )
00149 {
00150   Costmap2DROS cm( "empty", *tf_ );
00151   std::vector<geometry_msgs::Point> footprint = cm.getRobotFootprint();
00152   // With no specification of footprint or radius, defaults to 0.46 meter radius plus 0.01 meter padding.
00153   EXPECT_EQ( 16, footprint.size() );
00154 
00155   EXPECT_NEAR( 0.47f, footprint[ 0 ].x, 0.0001 );
00156   EXPECT_NEAR( 0.0f, footprint[ 0 ].y, 0.0001 );
00157   EXPECT_EQ( 0.0f, footprint[ 0 ].z );
00158 }
00159 
00160 int main(int argc, char** argv)
00161 {
00162   ros::init(argc, argv, "footprint_tests_node");
00163 
00164   tf_ = new tf::TransformListener( ros::Duration( 10 ));
00165 
00166   // This empty transform is added to satisfy the constructor of
00167   // Costmap2DROS, which waits for the transform from map to base_link
00168   // to become available.
00169   tf::StampedTransform base_rel_map;
00170   base_rel_map.child_frame_id_ = "/base_link";
00171   base_rel_map.frame_id_ = "/map";
00172   base_rel_map.stamp_ = ros::Time::now();
00173   tf_->setTransform( base_rel_map );
00174 
00175   testing::InitGoogleTest(&argc, argv);
00176   return RUN_ALL_TESTS();
00177 }


costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Thu Aug 27 2015 14:06:55