1 #include <gtest/gtest.h> 3 #include "../mock_grid_cell.h" 6 #include "../../../src/core/scan_matchers/brute_force_scan_matcher.h" 7 #include "../../../src/core/scan_matchers/occupancy_observation_probability.h" 8 #include "../../../src/core/maps/plain_grid_map.h" 49 std::make_shared<SPW>()),
50 Map_Width, Map_Height, Map_Scale,
51 to_lsp(LS_Max_Dist, LS_FoW, LS_Pts_Nm)}
61 auto bnd_pos = CecumMp::BoundPosition::Top;
66 (cecum_mp.width() * Patch_Scale / 2) *
map.
scale(),
67 (-cecum_mp.height() * Patch_Scale + 1) *
map.
scale(),
118 int main (
int argc,
char *argv[]) {
119 ::testing::InitGoogleTest(&argc, argv);
120 return RUN_ALL_TESTS();
static constexpr auto to_lsp(double max_dist, double fow_deg, unsigned pts_nm)
static constexpr double Step_Translation
GridScanMatcher & scan_matcher() override
UnboundedPlainGridMap map
void init_pose_facing_top_cecum_bound()
BruteForceScanMatcherSmokeTest()
static constexpr double To_Translation
static constexpr double From_Rotation
int main(int argc, char *argv[])
static constexpr double Map_Scale
void test_scan_matcher(const LaserScannerParams &lsp, const RobotPoseDelta &noise, const RobotPoseDelta &acc_error)
static constexpr int Map_Width
virtual void add_primitive_to_map(const TextRasterMapPrimitive &mp, const DiscretePoint2D &offset, int w_scale, int h_scale)
static constexpr double LS_Max_Dist
typename ScanMatcherTestBase< UnboundedPlainGridMap >::DefaultSPE SPE
static constexpr int Map_Height
TEST_F(BruteForceScanMatcherSmokeTest, cecumNoPoseNoise)
static constexpr int LS_FoW
static constexpr int Cecum_Patch_H
static constexpr int LS_Pts_Nm
static constexpr int Cecum_Patch_W
std::shared_ptr< ScanProbabilityEstimator > spe
static constexpr double From_Translation
constexpr double deg2rad(double angle_deg)
static constexpr double To_Rotation
static constexpr double Step_Rotation
BruteForceScanMatcher _bfsm
virtual double scale() const
static constexpr int Patch_Scale