Functions | Variables
global_oscillation_test.cpp File Reference
#include <ros/ros.h>
#include <nav_core2/exceptions.h>
#include <global_planner_tests/easy_costmap.h>
#include <global_planner_tests/global_planner_tests.h>
#include <dlux_global_planner/dlux_global_planner.h>
#include <nav_grid/coordinate_conversion.h>
#include <gtest/gtest.h>
#include <memory>
#include <string>
#include <vector>
Include dependency graph for global_oscillation_test.cpp:

Go to the source code of this file.

Functions

int main (int argc, char **argv)
 
bool pathsEqual (const nav_2d_msgs::Path2D &path_a, const nav_2d_msgs::Path2D &path_b)
 
void replanning_test (const std::string &ns, bool expect_different, bool path_caching=false, double improvement_threshold=-1.0)
 Check to see whether path caching is working as expected. More...
 
void setBarrier (nav_core2::Costmap &costmap, const unsigned char value)
 
 TEST (GlobalPlannerReplanning, no_cache)
 
 TEST (GlobalPlannerReplanning, any_cache)
 
 TEST (GlobalPlannerReplanning, improve_cache)
 
 TEST (GlobalPlannerReplanning, big_improve)
 

Variables

int barrier_x = 5
 
int barrier_y0 = 1
 
int barrier_y1 = 4
 
const char map_path [] = "package://dlux_plugins/test/robert_frost.png"
 

Function Documentation

int main ( int  argc,
char **  argv 
)

Definition at line 158 of file global_oscillation_test.cpp.

bool pathsEqual ( const nav_2d_msgs::Path2D &  path_a,
const nav_2d_msgs::Path2D &  path_b 
)

Definition at line 60 of file global_oscillation_test.cpp.

void replanning_test ( const std::string &  ns,
bool  expect_different,
bool  path_caching = false,
double  improvement_threshold = -1.0 
)

Check to see whether path caching is working as expected.

Parameters
nsNamespace for patermeters
expect_differentWhether we expected the resulting paths to be different
path_cachingValue for path_caching parameter
improvement_thresholdValue for improvement_threshold parameter

Definition at line 85 of file global_oscillation_test.cpp.

void setBarrier ( nav_core2::Costmap costmap,
const unsigned char  value 
)

Definition at line 52 of file global_oscillation_test.cpp.

TEST ( GlobalPlannerReplanning  ,
no_cache   
)

Definition at line 134 of file global_oscillation_test.cpp.

TEST ( GlobalPlannerReplanning  ,
any_cache   
)

Definition at line 140 of file global_oscillation_test.cpp.

TEST ( GlobalPlannerReplanning  ,
improve_cache   
)

Definition at line 146 of file global_oscillation_test.cpp.

TEST ( GlobalPlannerReplanning  ,
big_improve   
)

Definition at line 152 of file global_oscillation_test.cpp.

Variable Documentation

int barrier_x = 5

Definition at line 48 of file global_oscillation_test.cpp.

int barrier_y0 = 1

Definition at line 49 of file global_oscillation_test.cpp.

int barrier_y1 = 4

Definition at line 50 of file global_oscillation_test.cpp.

const char map_path[] = "package://dlux_plugins/test/robert_frost.png"

Definition at line 46 of file global_oscillation_test.cpp.



dlux_plugins
Author(s):
autogenerated on Sun Jan 10 2021 04:08:54