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COctoMap_unittest.cpp
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1 /* +---------------------------------------------------------------------------+
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3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 
10 
11 #include <mrpt/maps/COctoMap.h>
13 #include <gtest/gtest.h>
14 
15 using namespace mrpt;
16 using namespace mrpt::maps;
17 using namespace mrpt::obs;
18 using namespace mrpt::utils;
19 using namespace mrpt::poses;
20 using namespace mrpt::math;
21 using namespace std;
22 
23 
24 TEST(COctoMapTests, updateVoxels)
25 {
26  // Copied from the example program in the "octomap" C++ library.
27 
28  COctoMap map(0.1);
29 
30  map.updateVoxel(1,1,1, true); // integrate 'occupied' measurement
31 
32  map.updateVoxel(1.5,1,1, true); // integrate 'occupied' measurement
33  map.updateVoxel(1.5,1,1, true); // integrate 'occupied' measurement
34  map.updateVoxel(1.5,1,1, true); // integrate 'occupied' measurement
35 
36  map.updateVoxel(-1,-1,1, false); // integrate 'occupied' measurement
37 
38  double occup;
39  bool is_mapped;
41 
42  pt = mrpt::math::TPoint3D(1,1,1);
43  is_mapped = map.getPointOccupancy(pt.x,pt.y,pt.z, occup);
44  EXPECT_GT(occup,0.5);
45  EXPECT_TRUE(is_mapped);
46 
47  pt = mrpt::math::TPoint3D(-1,-1,1);
48  is_mapped = map.getPointOccupancy(pt.x,pt.y,pt.z, occup);
49  EXPECT_LT(occup,0.5);
50  EXPECT_TRUE(is_mapped);
51 }
52 
53 TEST(COctoMapTests, insert2DScan)
54 {
55  float SCAN_RANGES_1[] = {0.910f,0.900f,0.910f,0.900f,0.900f,0.890f,0.890f,0.880f,0.890f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.870f,0.880f,0.870f,0.870f,0.870f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.880f,0.890f,0.880f,0.880f,0.880f,0.890f,0.880f,0.890f,0.890f,0.880f,0.890f,0.890f,0.880f,0.890f,0.890f,0.890f,0.890f,0.890f,0.890f,0.900f,0.900f,0.900f,0.900f,0.900f,0.910f,0.910f,0.910f,0.910f,0.920f,0.920f,0.920f,0.920f,0.920f,0.930f,0.930f,0.930f,0.930f,0.940f,0.940f,0.950f,0.950f,0.950f,0.950f,0.960f,0.960f,0.970f,0.970f,0.970f,0.980f,0.980f,0.990f,1.000f,1.000f,1.000f,1.010f,1.010f,1.020f,1.030f,1.030f,1.030f,1.040f,1.050f,1.060f,1.050f,1.060f,1.070f,1.070f,1.080f,1.080f,1.090f,1.100f,1.110f,1.120f,1.120f,1.130f,1.140f,1.140f,1.160f,1.170f,1.180f,1.180f,1.190f,1.200f,1.220f,1.220f,1.230f,1.230f,1.240f,1.250f,1.270f,1.280f,1.290f,1.300f,1.320f,1.320f,1.350f,1.360f,1.370f,1.390f,1.410f,1.410f,1.420f,1.430f,1.450f,1.470f,1.490f,1.500f,1.520f,1.530f,1.560f,1.580f,1.600f,1.620f,1.650f,1.670f,1.700f,1.730f,1.750f,1.780f,1.800f,1.830f,1.850f,1.880f,1.910f,1.940f,1.980f,2.010f,2.060f,2.090f,2.130f,2.180f,2.220f,2.250f,2.300f,2.350f,2.410f,2.460f,2.520f,2.570f,2.640f,2.700f,2.780f,2.850f,2.930f,3.010f,3.100f,3.200f,3.300f,3.390f,3.500f,3.620f,3.770f,3.920f,4.070f,4.230f,4.430f,4.610f,4.820f,5.040f,5.290f,5.520f,8.970f,8.960f,8.950f,8.930f,8.940f,8.930f,9.050f,9.970f,9.960f,10.110f,13.960f,18.870f,19.290f,81.910f,20.890f,48.750f,48.840f,48.840f,19.970f,19.980f,19.990f,15.410f,20.010f,19.740f,17.650f,17.400f,14.360f,12.860f,11.260f,11.230f,8.550f,8.630f,9.120f,9.120f,8.670f,8.570f,7.230f,7.080f,7.040f,6.980f,6.970f,5.260f,5.030f,4.830f,4.620f,4.440f,4.390f,4.410f,4.410f,4.410f,4.430f,4.440f,4.460f,4.460f,4.490f,4.510f,4.540f,3.970f,3.820f,3.730f,3.640f,3.550f,3.460f,3.400f,3.320f,3.300f,3.320f,3.320f,3.340f,2.790f,2.640f,2.600f,2.570f,2.540f,2.530f,2.510f,2.490f,2.490f,2.480f,2.470f,2.460f,2.460f,2.460f,2.450f,2.450f,2.450f,2.460f,2.460f,2.470f,2.480f,2.490f,2.490f,2.520f,2.510f,2.550f,2.570f,2.610f,2.640f,2.980f,3.040f,3.010f,2.980f,2.940f,2.920f,2.890f,2.870f,2.830f,2.810f,2.780f,2.760f,2.740f,2.720f,2.690f,2.670f,2.650f,2.630f,2.620f,2.610f,2.590f,2.560f,2.550f,2.530f,2.510f,2.500f,2.480f,2.460f,2.450f,2.430f,2.420f,2.400f,2.390f,2.380f,2.360f,2.350f,2.340f,2.330f,2.310f,2.300f,2.290f,2.280f,2.270f,2.260f,2.250f,2.240f,2.230f,2.230f,2.220f,2.210f,2.200f,2.190f,2.180f,2.170f,1.320f,1.140f,1.130f,1.130f,1.120f,1.120f,1.110f,1.110f,1.110f,1.110f,1.100f,1.110f,1.100f};
56  char SCAN_VALID_1[] = {1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1};
57 
58  const size_t SCAN_SIZE = sizeof(SCAN_RANGES_1)/sizeof(SCAN_RANGES_1[0]);
59 
60  // Load scans:
62  scan1.aperture = M_PIf;
63  scan1.rightToLeft = true;
64  ASSERT_( sizeof(SCAN_RANGES_1) == sizeof(float)*SCAN_SIZE );
65 
66  scan1.loadFromVectors(SCAN_SIZE, SCAN_RANGES_1, SCAN_VALID_1);
67 
68  // Insert the scan in the map and check expected values:
69  {
70  COctoMap map(0.1);
71  map.insertObservation( &scan1 );
72 
73  }
74 
75 }
76 
double z
X,Y,Z coordinates.
#define M_PIf
void updateVoxel(const double x, const double y, const double z, bool occupied)
Manually updates the occupancy of the voxel at (x,y,z) as being occupied (true) or free (false)...
Definition: COctoMap.cpp:279
TEST(COctoMapTests, updateVoxels)
A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ ...
Definition: maps/COctoMap.h:37
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
bool getPointOccupancy(const float x, const float y, const float z, double &prob_occupancy) const
Get the occupancy probability [0,1] of a point.
float aperture
The "aperture" or field-of-view of the range finder, in radians (typically M_PI = 180 degrees)...
#define ASSERT_(f)
void loadFromVectors(size_t nRays, const float *scanRanges, const char *scanValidity)
Lightweight 3D point.
bool insertObservation(const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL)
Insert the observation information into this map.
Definition: CMetricMap.cpp:102
bool rightToLeft
The scanning direction: true=counterclockwise; false=clockwise.



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