12 #include <gtest/gtest.h> 21 TEST(COctoMapTests, updateVoxels)
41 EXPECT_GT(occup, 0.5);
42 EXPECT_TRUE(is_mapped);
46 EXPECT_LT(occup, 0.5);
47 EXPECT_TRUE(is_mapped);
50 TEST(COctoMapTests, insert2DScan)
53 0.910f, 0.900f, 0.910f, 0.900f, 0.900f, 0.890f, 0.890f, 0.880f,
54 0.890f, 0.880f, 0.880f, 0.880f, 0.880f, 0.880f, 0.880f, 0.870f,
55 0.880f, 0.870f, 0.870f, 0.870f, 0.880f, 0.880f, 0.880f, 0.880f,
56 0.880f, 0.880f, 0.880f, 0.880f, 0.880f, 0.880f, 0.880f, 0.880f,
57 0.880f, 0.880f, 0.880f, 0.880f, 0.890f, 0.880f, 0.880f, 0.880f,
58 0.890f, 0.880f, 0.890f, 0.890f, 0.880f, 0.890f, 0.890f, 0.880f,
59 0.890f, 0.890f, 0.890f, 0.890f, 0.890f, 0.890f, 0.900f, 0.900f,
60 0.900f, 0.900f, 0.900f, 0.910f, 0.910f, 0.910f, 0.910f, 0.920f,
61 0.920f, 0.920f, 0.920f, 0.920f, 0.930f, 0.930f, 0.930f, 0.930f,
62 0.940f, 0.940f, 0.950f, 0.950f, 0.950f, 0.950f, 0.960f, 0.960f,
63 0.970f, 0.970f, 0.970f, 0.980f, 0.980f, 0.990f, 1.000f, 1.000f,
64 1.000f, 1.010f, 1.010f, 1.020f, 1.030f, 1.030f, 1.030f, 1.040f,
65 1.050f, 1.060f, 1.050f, 1.060f, 1.070f, 1.070f, 1.080f, 1.080f,
66 1.090f, 1.100f, 1.110f, 1.120f, 1.120f, 1.130f, 1.140f, 1.140f,
67 1.160f, 1.170f, 1.180f, 1.180f, 1.190f, 1.200f, 1.220f, 1.220f,
68 1.230f, 1.230f, 1.240f, 1.250f, 1.270f, 1.280f, 1.290f, 1.300f,
69 1.320f, 1.320f, 1.350f, 1.360f, 1.370f, 1.390f, 1.410f, 1.410f,
70 1.420f, 1.430f, 1.450f, 1.470f, 1.490f, 1.500f, 1.520f, 1.530f,
71 1.560f, 1.580f, 1.600f, 1.620f, 1.650f, 1.670f, 1.700f, 1.730f,
72 1.750f, 1.780f, 1.800f, 1.830f, 1.850f, 1.880f, 1.910f, 1.940f,
73 1.980f, 2.010f, 2.060f, 2.090f, 2.130f, 2.180f, 2.220f, 2.250f,
74 2.300f, 2.350f, 2.410f, 2.460f, 2.520f, 2.570f, 2.640f, 2.700f,
75 2.780f, 2.850f, 2.930f, 3.010f, 3.100f, 3.200f, 3.300f, 3.390f,
76 3.500f, 3.620f, 3.770f, 3.920f, 4.070f, 4.230f, 4.430f, 4.610f,
77 4.820f, 5.040f, 5.290f, 5.520f, 8.970f, 8.960f, 8.950f, 8.930f,
78 8.940f, 8.930f, 9.050f, 9.970f, 9.960f, 10.110f, 13.960f, 18.870f,
79 19.290f, 81.910f, 20.890f, 48.750f, 48.840f, 48.840f, 19.970f, 19.980f,
80 19.990f, 15.410f, 20.010f, 19.740f, 17.650f, 17.400f, 14.360f, 12.860f,
81 11.260f, 11.230f, 8.550f, 8.630f, 9.120f, 9.120f, 8.670f, 8.570f,
82 7.230f, 7.080f, 7.040f, 6.980f, 6.970f, 5.260f, 5.030f, 4.830f,
83 4.620f, 4.440f, 4.390f, 4.410f, 4.410f, 4.410f, 4.430f, 4.440f,
84 4.460f, 4.460f, 4.490f, 4.510f, 4.540f, 3.970f, 3.820f, 3.730f,
85 3.640f, 3.550f, 3.460f, 3.400f, 3.320f, 3.300f, 3.320f, 3.320f,
86 3.340f, 2.790f, 2.640f, 2.600f, 2.570f, 2.540f, 2.530f, 2.510f,
87 2.490f, 2.490f, 2.480f, 2.470f, 2.460f, 2.460f, 2.460f, 2.450f,
88 2.450f, 2.450f, 2.460f, 2.460f, 2.470f, 2.480f, 2.490f, 2.490f,
89 2.520f, 2.510f, 2.550f, 2.570f, 2.610f, 2.640f, 2.980f, 3.040f,
90 3.010f, 2.980f, 2.940f, 2.920f, 2.890f, 2.870f, 2.830f, 2.810f,
91 2.780f, 2.760f, 2.740f, 2.720f, 2.690f, 2.670f, 2.650f, 2.630f,
92 2.620f, 2.610f, 2.590f, 2.560f, 2.550f, 2.530f, 2.510f, 2.500f,
93 2.480f, 2.460f, 2.450f, 2.430f, 2.420f, 2.400f, 2.390f, 2.380f,
94 2.360f, 2.350f, 2.340f, 2.330f, 2.310f, 2.300f, 2.290f, 2.280f,
95 2.270f, 2.260f, 2.250f, 2.240f, 2.230f, 2.230f, 2.220f, 2.210f,
96 2.200f, 2.190f, 2.180f, 2.170f, 1.320f, 1.140f, 1.130f, 1.130f,
97 1.120f, 1.120f, 1.110f, 1.110f, 1.110f, 1.110f, 1.100f, 1.110f,
100 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
101 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
102 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
103 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
104 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
105 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
106 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
107 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
108 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
109 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
110 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
111 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
112 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
113 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
114 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
115 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
bool getPointOccupancy(const float x, const float y, const float z, double &prob_occupancy) const
Get the occupancy probability [0,1] of a point.
#define ASSERT_(f)
Defines an assertion mechanism.
This base provides a set of functions for maths stuff.
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)...
This namespace contains representation of robot actions and observations.
double x
X,Y,Z coordinates.
TEST(COctoMapTests, updateVoxels)
A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ ...
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
float aperture
The "aperture" or field-of-view of the range finder, in radians (typically M_PI = 180 degrees)...
void loadFromVectors(size_t nRays, const float *scanRanges, const char *scanValidity)
bool insertObservation(const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL)
Insert the observation information into this map.
bool rightToLeft
The scanning direction: true=counterclockwise; false=clockwise.