MRPT  1.9.9
COccupancyGridMap2D_unittest.cpp
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #include <gtest/gtest.h>
14 
15 using namespace mrpt;
16 using namespace mrpt::maps;
17 using namespace mrpt::obs;
18 using namespace mrpt::poses;
19 using namespace mrpt::math;
20 using namespace std;
21 
22 TEST(COccupancyGridMap2DTests, insert2DScan)
23 {
26 
27  // Insert the scan in the grid map and check expected values:
28  {
29  COccupancyGridMap2D grid(-50.0f, 50.0f, -50.0f, 50.0f, 0.10f);
30  grid.insertObservation(scan1);
31 
32  EXPECT_GT(grid.getPos(0.5, 0), 0.51f); // A cell in front of the laser
33  // should have a high "freeness"
34  }
35 }
void example2DRangeScan(mrpt::obs::CObservation2DRangeScan &s, int i=0)
Example 2D lidar scans (form a venerable SICK LMS200).
STL namespace.
TEST(COccupancyGridMap2DTests, insert2DScan)
This base provides a set of functions for maths stuff.
This namespace contains representation of robot actions and observations.
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
A class for storing an occupancy grid map.
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 getPos(float x, float y) const
Read the real valued [0,1] contents of a cell, given its coordinates.
bool insertObservation(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose=nullptr)
Insert the observation information into this map.
Definition: CMetricMap.cpp:93



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