#include <map>
#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 <gtest/gtest.h>
#include <tf/transform_listener.h>
Go to the source code of this file.
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, testInflationOrderCorrectness) | |
TEST (costmap, testInflation) | |
TEST (costmap, testInflation2) | |
TEST (costmap, testInflation3) | |
void | validatePointInflation (unsigned int mx, unsigned int my, Costmap2D *costmap, InflationLayer *ilayer, double inflation_radius) |
int main | ( | int | argc, |
char ** | argv | ||
) |
Definition at line 406 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 130 of file inflation_tests.cpp.
TEST | ( | costmap | , |
testInflationShouldNotCreateUnknowns | |||
) |
Definition at line 156 of file inflation_tests.cpp.
TEST | ( | costmap | , |
testCostFunctionCorrectness | |||
) |
Test for the cost function correctness with a larger range and different values
Definition at line 181 of file inflation_tests.cpp.
TEST | ( | costmap | , |
testInflationOrderCorrectness | |||
) |
Test that there is no regression and that costs do not get underestimated with the distance-as-key map used to replace the previously used priority queue. This is a more thorough test of the cost function being correctly applied.
Definition at line 249 of file inflation_tests.cpp.
TEST | ( | costmap | , |
testInflation | |||
) |
Test inflation for both static and dynamic obstacles
Definition at line 277 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 341 of file inflation_tests.cpp.
TEST | ( | costmap | , |
testInflation3 | |||
) |
Test inflation behavior, starting with an empty map
Definition at line 370 of file inflation_tests.cpp.
void validatePointInflation | ( | unsigned int | mx, |
unsigned int | my, | ||
Costmap2D * | costmap, | ||
InflationLayer * | ilayer, | ||
double | inflation_radius | ||
) |
Definition at line 73 of file inflation_tests.cpp.