Main MRPT website > C++ reference for MRPT 1.9.9
Functions | Variables
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>

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

◆ 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) 
)

◆ TEST() [1/12]

TEST ( CReactiveNavigationSystem  ,
no_obstacle_nav_VFF   
)

Definition at line 178 of file rnav_unittest.cpp.

References no_obs_bottomright, no_obs_topleft, and no_obs_trg.

◆ TEST() [2/12]

TEST ( CReactiveNavigationSystem  ,
no_obstacle_nav_ND   
)

Definition at line 184 of file rnav_unittest.cpp.

References no_obs_bottomright, no_obs_topleft, and no_obs_trg.

◆ TEST() [3/12]

TEST ( CReactiveNavigationSystem  ,
no_obstacle_nav_FullEval   
)

Definition at line 190 of file rnav_unittest.cpp.

References no_obs_bottomright, no_obs_topleft, and no_obs_trg.

◆ TEST() [4/12]

TEST ( CReactiveNavigationSystem3D  ,
no_obstacle_nav_VFF   
)

Definition at line 197 of file rnav_unittest.cpp.

References no_obs_bottomright, no_obs_topleft, and no_obs_trg.

◆ TEST() [5/12]

TEST ( CReactiveNavigationSystem3D  ,
no_obstacle_nav_ND   
)

Definition at line 203 of file rnav_unittest.cpp.

References no_obs_bottomright, no_obs_topleft, and no_obs_trg.

◆ TEST() [6/12]

TEST ( CReactiveNavigationSystem3D  ,
no_obstacle_nav_FullEval   
)

Definition at line 209 of file rnav_unittest.cpp.

References no_obs_bottomright, no_obs_topleft, and no_obs_trg.

◆ TEST() [7/12]

TEST ( CReactiveNavigationSystem  ,
with_obstacle_nav_VFF   
)

Definition at line 216 of file rnav_unittest.cpp.

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

◆ TEST() [8/12]

TEST ( CReactiveNavigationSystem  ,
with_obstacle_nav_ND   
)

Definition at line 222 of file rnav_unittest.cpp.

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

◆ TEST() [9/12]

TEST ( CReactiveNavigationSystem  ,
with_obstacle_nav_FullEval   
)

Definition at line 228 of file rnav_unittest.cpp.

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

◆ TEST() [10/12]

TEST ( CReactiveNavigationSystem3D  ,
with_obstacle_nav_VFF   
)

Definition at line 235 of file rnav_unittest.cpp.

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

◆ TEST() [11/12]

TEST ( CReactiveNavigationSystem3D  ,
with_obstacle_nav_ND   
)

Definition at line 241 of file rnav_unittest.cpp.

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

◆ TEST() [12/12]

TEST ( CReactiveNavigationSystem3D  ,
with_obstacle_nav_FullEval   
)

Definition at line 247 of file rnav_unittest.cpp.

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

Variable Documentation

◆ no_obs_bottomright

const TPoint2D no_obs_bottomright(10, -10)

Referenced by TEST().

◆ no_obs_topleft

const TPoint2D no_obs_topleft(-10, 10)

Referenced by TEST().

◆ no_obs_trg

const TPoint2D no_obs_trg(2.0, 0.4)

Referenced by TEST().

◆ obs_br

const TPoint2D obs_br(5.0, -2.0)

Referenced by TEST().

◆ obs_tl

const TPoint2D obs_tl(4.0, 2.0)

Referenced by TEST().

◆ with_obs_bottomright

const TPoint2D with_obs_bottomright(30, -10)

Referenced by TEST().

◆ with_obs_topleft

const TPoint2D with_obs_topleft(-10, 10)

Referenced by TEST().

◆ with_obs_trg

const TPoint2D with_obs_trg(9.0, 4.0)

Referenced by TEST().




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