costmap_tools_tests.cpp
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00001 #include "ros/ros.h"
00002 #include "costmap_2d/costmap_2d.h"
00003 #include "frontier_exploration/costmap_tools.h"
00004 #include "boost/foreach.hpp"
00005 
00006 #include <gtest/gtest.h>
00007 
00008 
00009 class NeighborhoodFunctionTest : public ::testing::Test{
00010 protected:
00011     virtual void SetUp(){
00012         //create map of 10 x 10
00013         costmap_.resizeMap(9,9,0.1,0,0);
00014     }
00015     costmap_2d::Costmap2D costmap_;
00016 };
00017 
00018 TEST_F(NeighborhoodFunctionTest, middle)
00019 {
00020 
00021     unsigned int idx = costmap_.getIndex(4,4);
00022     ASSERT_EQ(4,frontier_exploration::nhood4(idx,costmap_).size());
00023     ASSERT_EQ(8,frontier_exploration::nhood8(idx,costmap_).size());
00024 
00025 }
00026 
00027 TEST_F(NeighborhoodFunctionTest, edge)
00028 {
00029 
00030     std::list<unsigned int> to_test;
00031     to_test.push_back(costmap_.getIndex(4,8));
00032     to_test.push_back(costmap_.getIndex(4,0));
00033     to_test.push_back(costmap_.getIndex(8,4));
00034     to_test.push_back(costmap_.getIndex(0,4));
00035     BOOST_FOREACH(unsigned int idx, to_test){
00036         ASSERT_EQ(3,frontier_exploration::nhood4(idx,costmap_).size());
00037         ASSERT_EQ(5,frontier_exploration::nhood8(idx,costmap_).size());
00038     }
00039 }
00040 
00041 
00042 TEST_F(NeighborhoodFunctionTest, corner)
00043 {
00044 
00045     std::list<unsigned int> to_test;
00046     to_test.push_back(costmap_.getIndex(8,8));
00047     to_test.push_back(costmap_.getIndex(8,0));
00048     to_test.push_back(costmap_.getIndex(8,0));
00049     to_test.push_back(costmap_.getIndex(0,0));
00050     BOOST_FOREACH(unsigned int idx, to_test){
00051         ASSERT_EQ(2,frontier_exploration::nhood4(idx,costmap_).size());
00052         ASSERT_EQ(3,frontier_exploration::nhood8(idx,costmap_).size());
00053     }
00054 
00055 }
00056 
00057 TEST_F(NeighborhoodFunctionTest, offMap)
00058 {
00059 
00060     unsigned int idx = costmap_.getIndex(12,12);
00061     ASSERT_EQ(0,frontier_exploration::nhood4(idx,costmap_).size());
00062     ASSERT_EQ(0,frontier_exploration::nhood8(idx,costmap_).size());
00063 
00064 }
00065 
00066 class NearestCellTest : public ::testing::Test{
00067 protected:
00068     virtual void SetUp(){
00069         //create map of 10 x 10
00070         costmap_.resizeMap(9,9,0.1,0,0);
00071         unsigned char* map = costmap_.getCharMap();
00072         const unsigned int size_x = costmap_.getSizeInCellsX(), size_y = costmap_.getSizeInCellsY();
00073 
00074         std::fill(map, map+ (size_x*size_y)/2, 0);
00075         std::fill(map+(size_x*size_y)/2 + 1, map+(size_x*size_y), 1);
00076     }
00077 
00078     costmap_2d::Costmap2D costmap_;
00079 };
00080 
00081 TEST_F(NearestCellTest, sameCell)
00082 {
00083     unsigned int input = 80;
00084     unsigned int result;
00085     ASSERT_TRUE(frontier_exploration::nearestCell(result,input,1,costmap_));
00086     ASSERT_EQ(input,result);
00087 
00088 }
00089 
00090 TEST_F(NearestCellTest, differentCell)
00091 {
00092     unsigned int input = 20;
00093     unsigned int result;
00094     ASSERT_TRUE(frontier_exploration::nearestCell(result,input,1,costmap_));
00095     ASSERT_NE(input,result);
00096 
00097 }
00098 
00099 TEST_F(NearestCellTest, offMap)
00100 {
00101     unsigned int input = std::numeric_limits<unsigned int>::max();
00102     unsigned int result;
00103     ASSERT_FALSE(frontier_exploration::nearestCell(result,input,1,costmap_));
00104 
00105 }
00106 
00107 int main(int argc, char **argv){
00108     testing::InitGoogleTest(&argc, argv);
00109     return RUN_ALL_TESTS();
00110 }


frontier_exploration
Author(s): Paul Bovbel
autogenerated on Thu Jun 6 2019 20:45:41