rnav_unittest.cpp File Reference

#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>

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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))
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)
	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)

Function Documentation

no_obs_bottomright()

const TPoint2D no_obs_bottomright	(	10	,
		-	10
	)

Referenced by TEST().

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no_obs_topleft()

const TPoint2D no_obs_topleft	(	-	10,
		10
	)

Referenced by TEST().

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no_obs_trg()

const TPoint2D no_obs_trg	(	2.	0,
		0.	4
	)

Referenced by TEST().

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obs_br()

const TPoint2D obs_br	(	5.	0,
		-2.	0
	)

Referenced by TEST().

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obs_tl()

const TPoint2D obs_tl	(	4.	0,
		2.	0
	)

Referenced by TEST().

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run_rnav_test()

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)
	)

Definition at line 22 of file rnav_unittest.cpp.

References mrpt::obs::CObservation2DRangeScan::aperture, mrpt::maps::CMetricMap::clear(), mrpt::containers::clear(), mrpt::DEG2RAD(), mrpt::config::CConfigFile::discardSavingChanges(), EXPECT_LT(), EXPECT_TRUE(), mrpt::system::extractFileDirectory(), mrpt::system::fileExists(), mrpt::maps::COccupancyGridMap2D::fill(), mrpt::system::find_mrpt_shared_dir(), mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTPose(), mrpt::system::getTempFileName(), mrpt::maps::CPointsMap::insertionOptions, mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::maps::CSimplePointsMap::loadFromRangeScan(), mrpt::system::LVL_DEBUG, mrpt::system::LVL_ERROR, mrpt::obs::CObservation2DRangeScan::maxRange, mrpt::maps::CPointsMap::TInsertionOptions::minDistBetweenLaserPoints, mrpt::system::now(), mrpt::obs::CObservation2DRangeScan::sensorPose, mrpt::maps::COccupancyGridMap2D::setCell(), setMinLoggingLevel(), mrpt::maps::COccupancyGridMap2D::setSize(), mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(), mrpt::nav::CAbstractNavigator::TNavigationParams::target, mrpt::nav::CAbstractNavigator::TargetInfo::target_coords, mrpt::nav::CAbstractNavigator::TargetInfo::targetAllowedDistance, mrpt::config::CConfigFileBase::write(), mrpt::maps::COccupancyGridMap2D::x2idx(), and mrpt::maps::COccupancyGridMap2D::y2idx().

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TEST() [1/12]

TEST	(	CReactiveNavigationSystem	,
		no_obstacle_nav_VFF
	)

Definition at line 182 of file rnav_unittest.cpp.

References no_obs_bottomright(), no_obs_topleft(), and no_obs_trg().

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TEST() [2/12]

TEST	(	CReactiveNavigationSystem	,
		no_obstacle_nav_ND
	)

Definition at line 188 of file rnav_unittest.cpp.

References no_obs_bottomright(), no_obs_topleft(), and no_obs_trg().

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TEST() [3/12]

TEST	(	CReactiveNavigationSystem	,
		no_obstacle_nav_FullEval
	)

Definition at line 194 of file rnav_unittest.cpp.

References no_obs_bottomright(), no_obs_topleft(), and no_obs_trg().

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TEST() [4/12]

TEST	(	CReactiveNavigationSystem3D	,
		no_obstacle_nav_VFF
	)

Definition at line 201 of file rnav_unittest.cpp.

References no_obs_bottomright(), no_obs_topleft(), and no_obs_trg().

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TEST() [5/12]

TEST	(	CReactiveNavigationSystem3D	,
		no_obstacle_nav_ND
	)

Definition at line 207 of file rnav_unittest.cpp.

References no_obs_bottomright(), no_obs_topleft(), and no_obs_trg().

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TEST() [6/12]

TEST	(	CReactiveNavigationSystem3D	,
		no_obstacle_nav_FullEval
	)

Definition at line 213 of file rnav_unittest.cpp.

References no_obs_bottomright(), no_obs_topleft(), and no_obs_trg().

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TEST() [7/12]

TEST	(	CReactiveNavigationSystem	,
		with_obstacle_nav_VFF
	)

Definition at line 220 of file rnav_unittest.cpp.

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

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TEST() [8/12]

TEST	(	CReactiveNavigationSystem	,
		with_obstacle_nav_ND
	)

Definition at line 226 of file rnav_unittest.cpp.

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

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TEST() [9/12]

TEST	(	CReactiveNavigationSystem	,
		with_obstacle_nav_FullEval
	)

Definition at line 232 of file rnav_unittest.cpp.

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

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TEST() [10/12]

TEST	(	CReactiveNavigationSystem3D	,
		with_obstacle_nav_VFF
	)

Definition at line 239 of file rnav_unittest.cpp.

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

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TEST() [11/12]

TEST	(	CReactiveNavigationSystem3D	,
		with_obstacle_nav_ND
	)

Definition at line 245 of file rnav_unittest.cpp.

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

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TEST() [12/12]

TEST	(	CReactiveNavigationSystem3D	,
		with_obstacle_nav_FullEval
	)

Definition at line 251 of file rnav_unittest.cpp.

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

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with_obs_bottomright()

const TPoint2D with_obs_bottomright	(	30	,
		-	10
	)

Referenced by TEST().

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with_obs_topleft()

const TPoint2D with_obs_topleft	(	-	10,
		10
	)

Referenced by TEST().

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with_obs_trg()

const TPoint2D with_obs_trg	(	9.	0,
		4.	0
	)

Referenced by TEST().

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