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>

Include dependency graph for rnav_unittest.cpp:

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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))
	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)
	)

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(), 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(), 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::math::TPoint2D_data::x, mrpt::maps::COccupancyGridMap2D::x2idx(), mrpt::math::TPoint2D_data::y, and mrpt::maps::COccupancyGridMap2D::y2idx().

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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().