test_filter_inflation.cpp File Reference

#include <gtest/gtest.h>
#include "filters.hpp"
#include <filters/filter_chain.h>
#include <math.h>
#include <Eigen/Dense>

Include dependency graph for test_filter_inflation.cpp:

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Macros
#define	GTEST_COUT   std::cerr << "[ INFO ] "

Functions
	TEST (Inflation, active)
	TEST (Inflation, layers_dont_exist)
	TEST (Inflation, all_clear)
	TEST (Inflation, center_filled)
	TEST (Inflation, center_filled_small_radius)
	TEST (Inflation, complex)
	TEST (Inflation, move_forward)
	TEST (Inflation, move_backward)
	TEST (Inflation, move_left)
	TEST (Inflation, move_right)
	TEST (Inflation, move_diagonal)
	TEST (Inflation, Stress_test_1)
	TEST (Inflation, Stress_test_2)

Macro Definition Documentation

#define GTEST_COUT   std::cerr << "[ INFO ] "

Definition at line 7 of file test_filter_inflation.cpp.

Function Documentation

TEST	(	Inflation	,
		active
	)

Definition at line 9 of file test_filter_inflation.cpp.

TEST	(	Inflation	,
		layers_dont_exist
	)

Test that error checking works for cases in which the ground and nonground layers don't exist.

Definition at line 18 of file test_filter_inflation.cpp.

TEST	(	Inflation	,
		all_clear
	)

Don't inflate any spots when there are no obstacles c = clear u = unknown o = occupied

Input [c], [c], [c], [c], [c], [c], [c], [c], [c]

Expected Output [c], [c], [c], [c], [c], [c], [c], [c], [c]

Definition at line 56 of file test_filter_inflation.cpp.

TEST	(	Inflation	,
		center_filled
	)

Inflate object to provide buffer in all surrounding cells c = clear = 0 u = unknown = nan o = occupied = 100 b = buffer = 30

Input [c], [c], [c], [c], [o], [c], [c], [c], [c]

Expected Output [b], [b], [b], [b], [o], [b], [b], [b], [b]

Definition at line 104 of file test_filter_inflation.cpp.

TEST	(	Inflation	,
		center_filled_small_radius
	)

When using too small of an inflation radius, we have to be careful about clipping corners

c = clear = 0 u = unknown = nan o = occupied = 100 b = buffer = 30

Input [c], [c], [c], [c], [o], [c], [c], [c], [c]

Expected Output [c], [b], [c], [b], [o], [b], [c], [b], [c]

Definition at line 163 of file test_filter_inflation.cpp.

TEST	(	Inflation	,
		complex
	)

Say all squares are open u = unknown = nan c = clear = 0 o = occupied = 100 b = buffer = 30

Input [c], [c], [o], [c], [c], [c], [c], [o], [c], [c], [o], [c], [c], [c], [o], [c], [c], [o], [c], [c], [c], [c], [o], [c], [c]

Expected Output [c], [b], [o], [b], [c], [b], [b], [o], [b], [b], [o], [b], [b], [b], [o], [b], [b], [o], [b], [b], [c], [b], [o], [b], [c]

Definition at line 228 of file test_filter_inflation.cpp.

TEST	(	Inflation	,
		move_forward
	)

Definition at line 276 of file test_filter_inflation.cpp.

TEST	(	Inflation	,
		move_backward
	)

Definition at line 320 of file test_filter_inflation.cpp.

TEST	(	Inflation	,
		move_left
	)

Definition at line 364 of file test_filter_inflation.cpp.

TEST	(	Inflation	,
		move_right
	)

Definition at line 408 of file test_filter_inflation.cpp.

TEST	(	Inflation	,
		move_diagonal
	)

Definition at line 452 of file test_filter_inflation.cpp.

TEST	(	Inflation	,
		Stress_test_1
	)

Definition at line 502 of file test_filter_inflation.cpp.

TEST	(	Inflation	,
		Stress_test_2
	)

Definition at line 529 of file test_filter_inflation.cpp.