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rnav_unittest.cpp File Reference
#include <mrpt/nav/reactive/CReactiveNavigationSystem.h>
#include <mrpt/nav/reactive/CReactiveNavigationSystem3D.h>
#include <mrpt/nav/reactive/CRobot2NavInterfaceForSimulator.h>
#include <mrpt/maps/COccupancyGridMap2D.h>
#include <mrpt/kinematics/CVehicleSimul_DiffDriven.h>
#include <mrpt/utils/CConfigFile.h>
#include <mrpt/system/filesystem.h>
#include <gtest/gtest.h>
Include dependency graph for rnav_unittest.cpp:

Go to the source code of this file.

Functions

template<typename RNAVCLASS >
void run_rnav_test (const std::string &sFilename, const std::string &sHoloMethod, const TPoint2D &nav_target, const TPoint2D &world_topleft, const TPoint2D &world_rightbottom, const TPoint2D &block_obstacle_topleft=TPoint2D(0, 0), const TPoint2D &block_obstacle_rightbottom=TPoint2D(0, 0))
 
 TEST (CReactiveNavigationSystem, no_obstacle_nav_VFF)
 
 TEST (CReactiveNavigationSystem, no_obstacle_nav_ND)
 
 TEST (CReactiveNavigationSystem, no_obstacle_nav_FullEval)
 
 TEST (CReactiveNavigationSystem3D, no_obstacle_nav_VFF)
 
 TEST (CReactiveNavigationSystem3D, no_obstacle_nav_ND)
 
 TEST (CReactiveNavigationSystem3D, no_obstacle_nav_FullEval)
 
 TEST (CReactiveNavigationSystem, with_obstacle_nav_VFF)
 
 TEST (CReactiveNavigationSystem, with_obstacle_nav_ND)
 
 TEST (CReactiveNavigationSystem, with_obstacle_nav_FullEval)
 
 TEST (CReactiveNavigationSystem3D, with_obstacle_nav_VFF)
 
 TEST (CReactiveNavigationSystem3D, with_obstacle_nav_ND)
 
 TEST (CReactiveNavigationSystem3D, with_obstacle_nav_FullEval)
 

Variables

const TPoint2D no_obs_trg (2.0, 0.4)
 
const TPoint2D no_obs_topleft (-10, 10)
 
const TPoint2D no_obs_bottomright (10,-10)
 
const TPoint2D with_obs_trg (9.0, 4.0)
 
const TPoint2D with_obs_topleft (-10, 10)
 
const TPoint2D with_obs_bottomright (30,-10)
 
const TPoint2D obs_tl (4.0, 2.0)
 
const TPoint2D obs_br (5.0,-2.0)
 

Function Documentation

template<typename RNAVCLASS >
void run_rnav_test ( const std::string sFilename,
const std::string sHoloMethod,
const TPoint2D nav_target,
const TPoint2D world_topleft,
const TPoint2D world_rightbottom,
const TPoint2D block_obstacle_topleft = TPoint2D(0,0),
const TPoint2D block_obstacle_rightbottom = TPoint2D(0,0) 
)
TEST ( CReactiveNavigationSystem  ,
no_obstacle_nav_VFF   
)

Definition at line 160 of file rnav_unittest.cpp.

References no_obs_bottomright, no_obs_topleft, and no_obs_trg.

TEST ( CReactiveNavigationSystem  ,
no_obstacle_nav_ND   
)

Definition at line 163 of file rnav_unittest.cpp.

References no_obs_bottomright, no_obs_topleft, and no_obs_trg.

TEST ( CReactiveNavigationSystem  ,
no_obstacle_nav_FullEval   
)

Definition at line 166 of file rnav_unittest.cpp.

References no_obs_bottomright, no_obs_topleft, and no_obs_trg.

TEST ( CReactiveNavigationSystem3D  ,
no_obstacle_nav_VFF   
)

Definition at line 170 of file rnav_unittest.cpp.

References no_obs_bottomright, no_obs_topleft, and no_obs_trg.

TEST ( CReactiveNavigationSystem3D  ,
no_obstacle_nav_ND   
)

Definition at line 173 of file rnav_unittest.cpp.

References no_obs_bottomright, no_obs_topleft, and no_obs_trg.

TEST ( CReactiveNavigationSystem3D  ,
no_obstacle_nav_FullEval   
)

Definition at line 176 of file rnav_unittest.cpp.

References no_obs_bottomright, no_obs_topleft, and no_obs_trg.

TEST ( CReactiveNavigationSystem  ,
with_obstacle_nav_VFF   
)

Definition at line 180 of file rnav_unittest.cpp.

References obs_br, obs_tl, with_obs_bottomright, with_obs_topleft, and with_obs_trg.

TEST ( CReactiveNavigationSystem  ,
with_obstacle_nav_ND   
)

Definition at line 183 of file rnav_unittest.cpp.

References obs_br, obs_tl, with_obs_bottomright, with_obs_topleft, and with_obs_trg.

TEST ( CReactiveNavigationSystem  ,
with_obstacle_nav_FullEval   
)

Definition at line 186 of file rnav_unittest.cpp.

References obs_br, obs_tl, with_obs_bottomright, with_obs_topleft, and with_obs_trg.

TEST ( CReactiveNavigationSystem3D  ,
with_obstacle_nav_VFF   
)

Definition at line 190 of file rnav_unittest.cpp.

References obs_br, obs_tl, with_obs_bottomright, with_obs_topleft, and with_obs_trg.

TEST ( CReactiveNavigationSystem3D  ,
with_obstacle_nav_ND   
)

Definition at line 193 of file rnav_unittest.cpp.

References obs_br, obs_tl, with_obs_bottomright, with_obs_topleft, and with_obs_trg.

TEST ( CReactiveNavigationSystem3D  ,
with_obstacle_nav_FullEval   
)

Definition at line 196 of file rnav_unittest.cpp.

References obs_br, obs_tl, with_obs_bottomright, with_obs_topleft, and with_obs_trg.

Variable Documentation

const TPoint2D no_obs_bottomright(10,-10)

Referenced by TEST().

const TPoint2D no_obs_topleft(-10, 10)

Referenced by TEST().

const TPoint2D no_obs_trg(2.0, 0.4)

Referenced by TEST().

const TPoint2D obs_br(5.0,-2.0)

Referenced by TEST().

const TPoint2D obs_tl(4.0, 2.0)

Referenced by TEST().

const TPoint2D with_obs_bottomright(30,-10)

Referenced by TEST().

const TPoint2D with_obs_topleft(-10, 10)

Referenced by TEST().

const TPoint2D with_obs_trg(9.0, 4.0)

Referenced by TEST().




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