hc_cc_circle_test.cpp File Reference

#include <gtest/gtest.h>
#include "steering_functions/steering_functions.hpp"
#include "steering_functions/hc_cc_state_space/configuration.hpp"
#include "steering_functions/hc_cc_state_space/hc_cc_circle.hpp"
#include "steering_functions/hc_cc_state_space/hc_cc_state_space.hpp"
#include "steering_functions/hc_cc_state_space/paths.hpp"
#include "steering_functions/utilities/utilities.hpp"

Include dependency graph for hc_cc_circle_test.cpp:

Go to the source code of this file.

Classes
class	Test_HC_CC_State_Space

Macros
#define	DISCRETIZATION   0.05
#define	EPS_DISTANCE   0.01
#define	EPS_KAPPA   1e-6
#define	EPS_SIGMA   1e-6
#define	KAPPA   1.0

Functions
Configuration	get_cc_goal_config (double delta, const HC_CC_Circle_Param &hc_cc_circle_param)
double	get_distance (const State &state1, const State &state2)
Configuration	get_hc_goal_config (double delta, const HC_CC_Circle_Param &hc_cc_circle_param)
vector< double >	get_linear_samples (double start, double stop, size_t num)
double	get_path_length (const vector< State > &path)
int	main (int argc, char **argv)
	TEST (HC_CC_Circle, maxCurvature)
	TEST (HC_CC_Circle, maxSharpness)
	TEST (HC_CC_Circle, pathLength)
	TEST (HC_CC_Circle, reachingGoal)

Variables
vector< double >	deltas = get_linear_samples(0.0, 2 * M_PI, 1e3)
vector< double >	sigmas = get_linear_samples(0.02, 200.0, 1000)
Configuration	start_config (0.0, 0.0, 0.0, 0.0)

Macro Definition Documentation

DISCRETIZATION

#define DISCRETIZATION   0.05

Definition at line 31 of file hc_cc_circle_test.cpp.

EPS_DISTANCE

#define EPS_DISTANCE   0.01

Definition at line 27 of file hc_cc_circle_test.cpp.

EPS_KAPPA

#define EPS_KAPPA   1e-6

Definition at line 28 of file hc_cc_circle_test.cpp.

EPS_SIGMA

#define EPS_SIGMA   1e-6

Definition at line 29 of file hc_cc_circle_test.cpp.

KAPPA

#define KAPPA   1.0

Definition at line 30 of file hc_cc_circle_test.cpp.

Function Documentation

get_cc_goal_config()

Configuration get_cc_goal_config	(	double	delta,
		const HC_CC_Circle_Param &	hc_cc_circle_param
	)

Definition at line 55 of file hc_cc_circle_test.cpp.

get_distance()

double get_distance	(	const State &	state1,
		const State &	state2
	)

Definition at line 98 of file hc_cc_circle_test.cpp.

get_hc_goal_config()

Configuration get_hc_goal_config	(	double	delta,
		const HC_CC_Circle_Param &	hc_cc_circle_param
	)

Definition at line 71 of file hc_cc_circle_test.cpp.

get_linear_samples()

vector<double> get_linear_samples	(	double	start,
		double	stop,
		size_t	num
	)

Definition at line 88 of file hc_cc_circle_test.cpp.

get_path_length()

double get_path_length

(

const vector< State > &

path

)

Definition at line 103 of file hc_cc_circle_test.cpp.

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 309 of file hc_cc_circle_test.cpp.

TEST() [1/4]

TEST	(	HC_CC_Circle	,
		maxCurvature
	)

Definition at line 274 of file hc_cc_circle_test.cpp.

TEST() [2/4]

TEST	(	HC_CC_Circle	,
		maxSharpness
	)

Definition at line 247 of file hc_cc_circle_test.cpp.

TEST() [3/4]

TEST	(	HC_CC_Circle	,
		pathLength
	)

Definition at line 119 of file hc_cc_circle_test.cpp.

TEST() [4/4]

TEST	(	HC_CC_Circle	,
		reachingGoal
	)

Definition at line 183 of file hc_cc_circle_test.cpp.

Variable Documentation

deltas

vector<double> deltas = get_linear_samples(0.0, 2 * M_PI, 1e3)

Definition at line 117 of file hc_cc_circle_test.cpp.

sigmas

vector<double> sigmas = get_linear_samples(0.02, 200.0, 1000)

Definition at line 116 of file hc_cc_circle_test.cpp.

start_config

Configuration start_config(0.0, 0.0, 0.0, 0.0)