global_planner_tests: global_planner

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00034 
00035 #ifndef GLOBAL_PLANNER_TESTS_GLOBAL_PLANNER_TESTS_H
00036 #define GLOBAL_PLANNER_TESTS_GLOBAL_PLANNER_TESTS_H
00037 
00038 #include <nav_core2/global_planner.h>
00039 #include <string>
00040 #include <vector>
00041 #include <utility>
00042 
00043 namespace global_planner_tests
00044 {
00045 
00046 using PoseList = std::vector<nav_2d_msgs::Pose2DStamped>;
00047 
00057 void groupCells(const nav_core2::Costmap& costmap, PoseList& free_cells, PoseList& occupied_cells,
00058                 bool include_edges = true);
00059 
00065 PoseList createPosesOutsideCostmap(const nav_core2::Costmap& costmap);
00066 
00073 PoseList subsetPoseList(const PoseList& cells, unsigned int num_cells);
00074 
00081 bool planExists(nav_core2::GlobalPlanner& planner, nav_2d_msgs::Pose2DStamped start, nav_2d_msgs::Pose2DStamped goal);
00082 
00091 bool checkValidPathCoverage(nav_core2::GlobalPlanner& planner, const PoseList& free_cells,
00092                             bool verbose = false, bool quit_early = true);
00093 
00116 bool checkOccupiedPathCoverage(nav_core2::GlobalPlanner& planner,
00117                                const PoseList& start_cells, const PoseList& goal_cells,
00118                                const std::string& test_name,
00119                                bool check_exception_type = true, bool verbose = false, bool quit_early = true,
00120                                bool invalid_starts = true);
00121 
00144 bool checkOutOfBoundsPathCoverage(nav_core2::GlobalPlanner& planner,
00145                                   const PoseList& start_cells, const PoseList& goal_cells,
00146                                   const std::string& test_name,
00147                                   bool check_exception_type = true, bool verbose = false, bool quit_early = true,
00148                                   bool invalid_starts = true);
00149 
00172 bool hasCompleteCoverage(nav_core2::GlobalPlanner& planner, const nav_core2::Costmap& costmap,
00173                          int max_failure_cases = 10, bool check_exception_type = true,
00174                          bool verbose = false, bool quit_early = true);
00175 
00186 bool hasNoPaths(nav_core2::GlobalPlanner& planner, const nav_core2::Costmap& costmap,
00187                 bool check_exception_type = true, bool verbose = false, bool quit_early = true);
00188 }  // namespace global_planner_tests
00189 
00190 #endif  // GLOBAL_PLANNER_TESTS_GLOBAL_PLANNER_TESTS_H