MRPT  1.9.9
Functions | Variables
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:

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) 
)

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(), EXPECT_LT(), EXPECT_TRUE(), 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(), setMinLoggingLevel(), 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().

Here is the call graph for this function:

◆ TEST() [1/12]

TEST ( CReactiveNavigationSystem  ,
no_obstacle_nav_VFF   
)

Definition at line 182 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 188 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 194 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 201 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 207 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 213 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 220 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 226 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 232 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 239 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 245 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 251 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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