test_grid_utils.cpp File Reference

#include <occupancy_grid_utils/ray_tracer.h>
#include <occupancy_grid_utils/exceptions.h>
#include <occupancy_grid_utils/shortest_path.h>
#include <occupancy_grid_utils/combine_grids.h>
#include <gtest/gtest.h>
#include <tf/transform_datatypes.h>
#include <ros/ros.h>
#include <iostream>
#include <boost/foreach.hpp>
#include <boost/bind.hpp>
#include <boost/assign.hpp>
#include <cmath>

Include dependency graph for test_grid_utils.cpp:

Go to the source code of this file.

Classes
struct	CloseTo
Namespaces
namespace	geometry_msgs
Typedefs
typedef boost::shared_ptr < nm::OccupancyGrid const >	GridConstPtr
typedef boost::shared_ptr < nm::OccupancyGrid >	GridPtr
typedef vector< Cell >	Path
Functions
double	angle (const double x1, const double y1, const double x2, const double y2)
bool	approxEqual (const double x, const double y)
gm::Point	lastPoint (const nm::MapMetaData &info, const gu::RayTraceIterRange &r)
int	main (int argc, char **argv)
gm::Point	makePoint (const double x, const double y)
gm::Point32	makePoint32 (const double x, const double y)
gm::Pose	makePose (const double x, const double y, const double theta)
double	norm (const double x, const double y)
template<class T >
ostream &	operator<< (ostream &str, const vector< T > &s)
ostream &	operator<< (ostream &str, const gm::Point &p)
bool	geometry_msgs::operator== (const Polygon &p1, const Polygon &p2)
bool	samePath (const Path &p1, const Path &p2)
void	setOccupied (nm::OccupancyGrid *g, const unsigned x, const unsigned y)
void	setVal (nm::OccupancyGrid *g, const gu::coord_t x, const gu::coord_t y, const int v)
	TEST (GridUtils, CoordinateConversions)
	TEST (GridUtils, RayTrace)
	TEST (GridUtils, GridOverlay)
	TEST (GridUtils, ShortestPath)
	TEST (GridUtils, InflateObstacles)
	TEST (GridUtils, CombineGrids)
int	val (const nm::OccupancyGrid &g, const gu::coord_t x, const gu::coord_t y)
Variables
const double	PI = 3.14159265
const double	TOL = 1e-6

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Typedef Documentation

typedef boost::shared_ptr<nm::OccupancyGrid const> GridConstPtr

Definition at line 62 of file test_grid_utils.cpp.

typedef boost::shared_ptr<nm::OccupancyGrid> GridPtr

Definition at line 61 of file test_grid_utils.cpp.

typedef vector<Cell> Path

Definition at line 60 of file test_grid_utils.cpp.

---

Function Documentation

double angle	(	const double	x1,
		const double	y1,
		const double	x2,
		const double	y2
	)

Definition at line 150 of file test_grid_utils.cpp.

bool approxEqual	(	const double	x,
		const double	y
	)

Definition at line 74 of file test_grid_utils.cpp.

gm::Point lastPoint	(	const nm::MapMetaData &	info,
		const gu::RayTraceIterRange &	r
	)

Definition at line 203 of file test_grid_utils.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 542 of file test_grid_utils.cpp.

gm::Point makePoint	(	const double	x,
		const double	y
	)

Definition at line 117 of file test_grid_utils.cpp.

gm::Point32 makePoint32	(	const double	x,
		const double	y
	)

Definition at line 125 of file test_grid_utils.cpp.

gm::Pose makePose	(	const double	x,
		const double	y,
		const double	theta
	)

Definition at line 156 of file test_grid_utils.cpp.

double norm	(	const double	x,
		const double	y
	)

Definition at line 133 of file test_grid_utils.cpp.

template<class T >

ostream& operator<<	(	ostream &	str,
		const vector< T > &	s
	)

Definition at line 100 of file test_grid_utils.cpp.

ostream& operator<<	(	ostream &	str,
		const gm::Point &	p
	)

Definition at line 111 of file test_grid_utils.cpp.

bool samePath	(	const Path &	p1,
		const Path &	p2
	)

Definition at line 64 of file test_grid_utils.cpp.

void setOccupied	(	nm::OccupancyGrid *	g,
		const unsigned	x,
		const unsigned	y
	)

Definition at line 334 of file test_grid_utils.cpp.

void setVal	(	nm::OccupancyGrid *	g,
		const gu::coord_t	x,
		const gu::coord_t	y,
		const int	v
	)

Definition at line 445 of file test_grid_utils.cpp.

TEST	(	GridUtils	,
		CoordinateConversions
	)

Definition at line 168 of file test_grid_utils.cpp.

TEST	(	GridUtils	,
		RayTrace
	)

Definition at line 213 of file test_grid_utils.cpp.

TEST	(	GridUtils	,
		GridOverlay
	)

Definition at line 254 of file test_grid_utils.cpp.

TEST	(	GridUtils	,
		ShortestPath
	)

Definition at line 339 of file test_grid_utils.cpp.

TEST	(	GridUtils	,
		InflateObstacles
	)

Definition at line 452 of file test_grid_utils.cpp.

TEST	(	GridUtils	,
		CombineGrids
	)

Definition at line 481 of file test_grid_utils.cpp.

int val	(	const nm::OccupancyGrid &	g,
		const gu::coord_t	x,
		const gu::coord_t	y
	)

Definition at line 438 of file test_grid_utils.cpp.

---

Variable Documentation

const double PI = 3.14159265

Definition at line 55 of file test_grid_utils.cpp.

const double TOL = 1e-6

Definition at line 57 of file test_grid_utils.cpp.