rnav_unittest.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <gtest/gtest.h>
#include <mrpt/config/CConfigFile.h>
#include <mrpt/kinematics/CVehicleSimul_DiffDriven.h>
#include <mrpt/maps/COccupancyGridMap2D.h>
#include <mrpt/nav/reactive/CReactiveNavigationSystem.h>
#include <mrpt/nav/reactive/CReactiveNavigationSystem3D.h>
#include <mrpt/nav/reactive/CRobot2NavInterfaceForSimulator.h>
#include <mrpt/system/filesystem.h>

using mrpt::math::TPoint2D;

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))
{
    using namespace std;
    using namespace mrpt;
    using namespace mrpt::nav;

    const std::string sFil = mrpt::system::find_mrpt_shared_dir() +
                             std::string("config_files/navigation-ptgs/") +
                             sFilename;

    if (!mrpt::system::fileExists(sFil))
    {
        cerr << "**WARNING* Skipping tests since file cannot be found: '"
             << sFil << "'\n";
        return;
    }

    mrpt::config::CConfigFile cfg(sFil);
    cfg.write("CAbstractPTGBasedReactive", "holonomic_method", sHoloMethod);
    cfg.discardSavingChanges();

    // Create a grid map with a synthetic test environment with a simple
    // obstacle:
    mrpt::maps::COccupancyGridMap2D grid;
    grid.setSize(
        world_topleft.x, world_rightbottom.x, world_rightbottom.y,
        world_topleft.y, 0.10f /*resolution*/);
    grid.fill(0.9f);

    // Create obstacle:
    {
        const int xi0 = grid.x2idx(block_obstacle_topleft.x),
                  xi1 = grid.x2idx(block_obstacle_rightbottom.x);
        const int yi0 = grid.y2idx(block_obstacle_rightbottom.y),
                  yi1 = grid.y2idx(block_obstacle_topleft.y);

        for (int xi = xi0; xi < xi1; xi++)
        {
            for (int yi = yi0; yi < yi1; yi++)
            {
                grid.setCell(xi, yi, 0);
            }
        }
    }

    struct MyDummyRobotIF : public CRobot2NavInterfaceForSimulator_DiffDriven
    {
        mrpt::maps::COccupancyGridMap2D& m_grid;

        MyDummyRobotIF(
            mrpt::kinematics::CVehicleSimul_DiffDriven& sim,
            mrpt::maps::COccupancyGridMap2D& grid)
            : CRobot2NavInterfaceForSimulator_DiffDriven(sim), m_grid(grid)
        {
            this->setMinLoggingLevel(
                mrpt::system::LVL_ERROR);  // less verbose output for tests
        }

        void sendNavigationStartEvent() override {}
        void sendNavigationEndEvent() override {}
        bool senseObstacles(
            mrpt::maps::CSimplePointsMap& obstacles,
            mrpt::system::TTimeStamp& timestamp) override
        {
            obstacles.clear();
            timestamp = mrpt::system::now();

            mrpt::math::TPose2D curPose, odomPose;
            std::string pose_frame_id;
            mrpt::math::TTwist2D curVel;
            mrpt::system::TTimeStamp pose_tim;
            getCurrentPoseAndSpeeds(
                curPose, curVel, pose_tim, odomPose, pose_frame_id);

            mrpt::obs::CObservation2DRangeScan scan;
            scan.aperture = mrpt::DEG2RAD(270.0);
            scan.maxRange = 20.0;
            scan.sensorPose.z(0.4);  // height of the lidar (important! it must
            // intersect with the robot height)

            m_grid.laserScanSimulator(
                scan, mrpt::poses::CPose2D(curPose), 0.4f, 180);

            obstacles.insertionOptions.minDistBetweenLaserPoints = .0;
            obstacles.loadFromRangeScan(scan);

            return true;
        }
    };

    mrpt::kinematics::CVehicleSimul_DiffDriven robot_simul;
    MyDummyRobotIF robot2nav_if(robot_simul, grid);

    // Use dynamic memory instead of stack-allocated object to prevent stack
    // overflow on MSVC (!).
    auto rnav_ptr =
        std::make_unique<RNAVCLASS>(robot2nav_if, false /*no console output*/);
    auto& rnav = *rnav_ptr;
    // Logging:
    {
        rnav.enableTimeLog(false);
#ifdef _DEBUG
        rnav.setMinLoggingLevel(mrpt::system::LVL_DEBUG);
#else
        rnav.setMinLoggingLevel(mrpt::system::LVL_ERROR);  // quiet
#endif
        const std::string sTmpFil = mrpt::system::getTempFileName();
        const std::string sTmpDir = mrpt::system::extractFileDirectory(sTmpFil);
        // printf("[run_rnav_test] navlog dir: `%s`\n", sTmpDir.c_str());
        rnav.setLogFileDirectory(sTmpDir);
        rnav.enableLogFile(true);
    }

    // Load options:
    rnav.loadConfigFile(cfg);

    // And initialize:
    rnav.initialize();

    // Nav:
    CAbstractNavigator::TNavigationParams np;
    np.target.target_coords = mrpt::math::TPose2D(nav_target);
    np.target.targetAllowedDistance = 0.35f;

    rnav.navigate(&np);

    unsigned int MAX_ITERS = 200;
    for (unsigned int i = 0; i < MAX_ITERS; i++)
    {
        // printf("[run_rnav_test] iter: %i robot_pose: %s\n",i,
        // robot_simul.getCurrentGTPose().asString().c_str());
        // Run nav:
        rnav.navigationStep();

        EXPECT_TRUE(rnav.getCurrentState() != CAbstractNavigator::NAV_ERROR);
        if (rnav.getCurrentState() == CAbstractNavigator::IDLE) break;

        robot_simul.simulateOneTimeStep(0.2 /*sec*/);
    }

    EXPECT_LT(
        (TPoint2D(robot_simul.getCurrentGTPose()) - nav_target).norm(), 0.4);
    EXPECT_TRUE(rnav.getCurrentState() == CAbstractNavigator::IDLE);

    const_cast<mrpt::system::CTimeLogger&>(rnav.getTimeLogger())
        .clear(true);  // do not show timelog table to console
    const_cast<mrpt::system::CTimeLogger&>(rnav.getDelaysTimeLogger())
        .clear(true);
}

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

TEST(CReactiveNavigationSystem, no_obstacle_nav_VFF)
{
    run_rnav_test<mrpt::nav::CReactiveNavigationSystem>(
        "reactive2d_config.ini", "CHolonomicVFF", no_obs_trg, no_obs_topleft,
        no_obs_bottomright);
}
TEST(CReactiveNavigationSystem, no_obstacle_nav_ND)
{
    run_rnav_test<mrpt::nav::CReactiveNavigationSystem>(
        "reactive2d_config.ini", "CHolonomicND", no_obs_trg, no_obs_topleft,
        no_obs_bottomright);
}
TEST(CReactiveNavigationSystem, no_obstacle_nav_FullEval)
{
    run_rnav_test<mrpt::nav::CReactiveNavigationSystem>(
        "reactive2d_config.ini", "CHolonomicFullEval", no_obs_trg,
        no_obs_topleft, no_obs_bottomright);
}

TEST(CReactiveNavigationSystem3D, no_obstacle_nav_VFF)
{
    run_rnav_test<mrpt::nav::CReactiveNavigationSystem3D>(
        "reactive3d_config.ini", "CHolonomicVFF", no_obs_trg, no_obs_topleft,
        no_obs_bottomright);
}
TEST(CReactiveNavigationSystem3D, no_obstacle_nav_ND)
{
    run_rnav_test<mrpt::nav::CReactiveNavigationSystem3D>(
        "reactive3d_config.ini", "CHolonomicND", no_obs_trg, no_obs_topleft,
        no_obs_bottomright);
}
TEST(CReactiveNavigationSystem3D, no_obstacle_nav_FullEval)
{
    run_rnav_test<mrpt::nav::CReactiveNavigationSystem3D>(
        "reactive3d_config.ini", "CHolonomicFullEval", no_obs_trg,
        no_obs_topleft, no_obs_bottomright);
}

TEST(CReactiveNavigationSystem, with_obstacle_nav_VFF)
{
    run_rnav_test<mrpt::nav::CReactiveNavigationSystem>(
        "reactive2d_config.ini", "CHolonomicVFF", with_obs_trg,
        with_obs_topleft, with_obs_bottomright, obs_tl, obs_br);
}
TEST(CReactiveNavigationSystem, with_obstacle_nav_ND)
{
    run_rnav_test<mrpt::nav::CReactiveNavigationSystem>(
        "reactive2d_config.ini", "CHolonomicND", with_obs_trg, with_obs_topleft,
        with_obs_bottomright, obs_tl, obs_br);
}
TEST(CReactiveNavigationSystem, with_obstacle_nav_FullEval)
{
    run_rnav_test<mrpt::nav::CReactiveNavigationSystem>(
        "reactive2d_config.ini", "CHolonomicFullEval", with_obs_trg,
        with_obs_topleft, with_obs_bottomright, obs_tl, obs_br);
}

TEST(CReactiveNavigationSystem3D, with_obstacle_nav_VFF)
{
    run_rnav_test<mrpt::nav::CReactiveNavigationSystem3D>(
        "reactive3d_config.ini", "CHolonomicVFF", with_obs_trg,
        with_obs_topleft, with_obs_bottomright, obs_tl, obs_br);
}
TEST(CReactiveNavigationSystem3D, with_obstacle_nav_ND)
{
    run_rnav_test<mrpt::nav::CReactiveNavigationSystem3D>(
        "reactive3d_config.ini", "CHolonomicND", with_obs_trg, with_obs_topleft,
        with_obs_bottomright, obs_tl, obs_br);
}
TEST(CReactiveNavigationSystem3D, with_obstacle_nav_FullEval)
{
    run_rnav_test<mrpt::nav::CReactiveNavigationSystem3D>(
        "reactive3d_config.ini", "CHolonomicFullEval", with_obs_trg,
        with_obs_topleft, with_obs_bottomright, obs_tl, obs_br);
}