Functions
inflation_tests.cpp File Reference
#include <map>
#include <cmath>
#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/layered_costmap.h>
#include <costmap_2d/obstacle_layer.h>
#include <costmap_2d/inflation_layer.h>
#include <costmap_2d/observation_buffer.h>
#include <costmap_2d/testing_helper.h>
#include <gtest/gtest.h>
Include dependency graph for inflation_tests.cpp:

Go to the source code of this file.

Functions

int main (int argc, char **argv)
 
std::vector< PointsetRadii (LayeredCostmap &layers, double length, double width, double inflation_radius)
 
 TEST (costmap, testAdjacentToObstacleCanStillMove)
 
 TEST (costmap, testCostFunctionCorrectness)
 
 TEST (costmap, testInflation)
 
 TEST (costmap, testInflation2)
 
 TEST (costmap, testInflation3)
 
 TEST (costmap, testInflationOrderCorrectness)
 
 TEST (costmap, testInflationShouldNotCreateUnknowns)
 
void validatePointInflation (unsigned int mx, unsigned int my, Costmap2D *costmap, InflationLayer *ilayer, double inflation_radius)
 

Function Documentation

◆ main()

int main ( int  argc,
char **  argv 
)

Definition at line 413 of file inflation_tests.cpp.

◆ setRadii()

std::vector<Point> setRadii ( LayeredCostmap layers,
double  length,
double  width,
double  inflation_radius 
)

Definition at line 48 of file inflation_tests.cpp.

◆ TEST() [1/7]

TEST ( costmap  ,
testAdjacentToObstacleCanStillMove   
)

Definition at line 137 of file inflation_tests.cpp.

◆ TEST() [2/7]

TEST ( costmap  ,
testCostFunctionCorrectness   
)

Test for the cost function correctness with a larger range and different values

Definition at line 188 of file inflation_tests.cpp.

◆ TEST() [3/7]

TEST ( costmap  ,
testInflation   
)

Test inflation for both static and dynamic obstacles

Definition at line 284 of file inflation_tests.cpp.

◆ TEST() [4/7]

TEST ( costmap  ,
testInflation2   
)

Test specific inflation scenario to ensure we do not set inflated obstacles to be raw obstacles.

Definition at line 348 of file inflation_tests.cpp.

◆ TEST() [5/7]

TEST ( costmap  ,
testInflation3   
)

Test inflation behavior, starting with an empty map

Definition at line 377 of file inflation_tests.cpp.

◆ TEST() [6/7]

TEST ( costmap  ,
testInflationOrderCorrectness   
)

Test that there is no regression and that costs do not get underestimated with the distance-as-key map used to replace the previously used priority queue. This is a more thorough test of the cost function being correctly applied.

Definition at line 256 of file inflation_tests.cpp.

◆ TEST() [7/7]

TEST ( costmap  ,
testInflationShouldNotCreateUnknowns   
)

Definition at line 163 of file inflation_tests.cpp.

◆ validatePointInflation()

void validatePointInflation ( unsigned int  mx,
unsigned int  my,
Costmap2D costmap,
InflationLayer ilayer,
double  inflation_radius 
)

Definition at line 73 of file inflation_tests.cpp.



costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Mon Mar 6 2023 03:50:17