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COctoMap_unittest.cpp
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #include <mrpt/maps/COctoMap.h>
12 #include <gtest/gtest.h>
13 
14 using namespace mrpt;
15 using namespace mrpt::maps;
16 using namespace mrpt::obs;
17 using namespace mrpt::poses;
18 using namespace mrpt::math;
19 using namespace std;
20 
21 TEST(COctoMapTests, updateVoxels)
22 {
23  // Copied from the example program in the "octomap" C++ library.
24 
25  COctoMap map(0.1);
26 
27  map.updateVoxel(1, 1, 1, true); // integrate 'occupied' measurement
28 
29  map.updateVoxel(1.5, 1, 1, true); // integrate 'occupied' measurement
30  map.updateVoxel(1.5, 1, 1, true); // integrate 'occupied' measurement
31  map.updateVoxel(1.5, 1, 1, true); // integrate 'occupied' measurement
32 
33  map.updateVoxel(-1, -1, 1, false); // integrate 'occupied' measurement
34 
35  double occup;
36  bool is_mapped;
38 
39  pt = mrpt::math::TPoint3D(1, 1, 1);
40  is_mapped = map.getPointOccupancy(pt.x, pt.y, pt.z, occup);
41  EXPECT_GT(occup, 0.5);
42  EXPECT_TRUE(is_mapped);
43 
44  pt = mrpt::math::TPoint3D(-1, -1, 1);
45  is_mapped = map.getPointOccupancy(pt.x, pt.y, pt.z, occup);
46  EXPECT_LT(occup, 0.5);
47  EXPECT_TRUE(is_mapped);
48 }
49 
50 TEST(COctoMapTests, insert2DScan)
51 {
52  float SCAN_RANGES_1[] = {
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,
98  1.100f};
99  char SCAN_VALID_1[] = {
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};
116 
117  const size_t SCAN_SIZE = sizeof(SCAN_RANGES_1) / sizeof(SCAN_RANGES_1[0]);
118 
119  // Load scans:
121  scan1.aperture = M_PIf;
122  scan1.rightToLeft = true;
123  ASSERT_(sizeof(SCAN_RANGES_1) == sizeof(float) * SCAN_SIZE);
124 
126 
127  // Insert the scan in the map and check expected values:
128  {
129  COctoMap map(0.1);
130  map.insertObservation(&scan1);
131  }
132 }
bool getPointOccupancy(const float x, const float y, const float z, double &prob_occupancy) const
Get the occupancy probability [0,1] of a point.
STL namespace.
#define ASSERT_(f)
Defines an assertion mechanism.
Definition: exceptions.h:113
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)...
Definition: COctoMap.cpp:304
This namespace contains representation of robot actions and observations.
#define M_PIf
Definition: common.h:61
double x
X,Y,Z coordinates.
TEST(COctoMapTests, updateVoxels)
A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ ...
Definition: COctoMap.h:35
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
float SCAN_RANGES_1[]
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)...
#define SCAN_SIZE
void loadFromVectors(size_t nRays, const float *scanRanges, const char *scanValidity)
char SCAN_VALID_1[]
Lightweight 3D point.
bool insertObservation(const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL)
Insert the observation information into this map.
Definition: CMetricMap.cpp:95
bool rightToLeft
The scanning direction: true=counterclockwise; false=clockwise.



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