#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 <set>
#include <gtest/gtest.h>
#include <tf/transform_listener.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, testInflation)
	TEST (costmap, testInflation2)
	TEST (costmap, testInflation3)

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 319 of file inflation_tests.cpp.

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

Definition at line 48 of file inflation_tests.cpp.

TEST	(	costmap	,
		testAdjacentToObstacleCanStillMove
	)

Definition at line 72 of file inflation_tests.cpp.

TEST	(	costmap	,
		testInflationShouldNotCreateUnknowns
	)

Definition at line 98 of file inflation_tests.cpp.

TEST	(	costmap	,
		testCostFunctionCorrectness
	)

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

Definition at line 123 of file inflation_tests.cpp.

TEST	(	costmap	,
		testInflation
	)

Test inflation for both static and dynamic obstacles

Definition at line 190 of file inflation_tests.cpp.

TEST	(	costmap	,
		testInflation2
	)

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

Definition at line 254 of file inflation_tests.cpp.

TEST	(	costmap	,
		testInflation3
	)

Test inflation behavior, starting with an empty map

Definition at line 283 of file inflation_tests.cpp.

Functions

Function Documentation