91 lines
3.7 KiB
C++
91 lines
3.7 KiB
C++
#include <costmap_2d/costmap_2d_robot.h>
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#include <costmap_2d/cost_values.h>
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#include <gtest/gtest.h>
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#include <tf3/buffer_core.h>
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namespace costmap_2d {
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class CostmapTester : public testing::Test {
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public:
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CostmapTester(tf3::BufferCore& tf);
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void checkConsistentCosts();
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void compareCellToNeighbors(costmap_2d::Costmap2D& costmap, unsigned int x, unsigned int y);
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void compareCells(costmap_2d::Costmap2D& costmap,
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unsigned int x, unsigned int y, unsigned int nx, unsigned int ny);
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virtual void TestBody(){}
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private:
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costmap_2d::Costmap2DROBOT costmap_ros_;
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};
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CostmapTester::CostmapTester(tf3::BufferCore& tf): costmap_ros_("test_costmap", tf){}
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void CostmapTester::checkConsistentCosts(){
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costmap_2d::Costmap2D* costmap = costmap_ros_.getCostmap();
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//get a copy of the costmap contained by our ros wrapper
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costmap->saveMap("costmap_test.pgm");
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//loop through the costmap and check for any unexpected drop-offs in costs
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for(unsigned int i = 0; i < costmap->getSizeInCellsX(); ++i){
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for(unsigned int j = 0; j < costmap->getSizeInCellsY(); ++j){
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compareCellToNeighbors(*costmap, i, j);
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}
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}
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}
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void CostmapTester::compareCellToNeighbors(costmap_2d::Costmap2D& costmap, unsigned int x, unsigned int y){
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//we'll compare the cost of this cell with that of its eight neighbors to see if they're reasonable
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for(int offset_x = -1; offset_x <= 1; ++offset_x){
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for(int offset_y = -1; offset_y <= 1; ++offset_y){
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int nx = x + offset_x;
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int ny = y + offset_y;
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//check to make sure that the neighbor cell is a legal one
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if(nx >= 0 && nx < (int)costmap.getSizeInCellsX() && ny >=0 && ny < (int)costmap.getSizeInCellsY()){
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compareCells(costmap, x, y, nx, ny);
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}
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}
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}
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}
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//for all lethal and inscribed costs, we'll make sure that their neighbors have the cost values we'd expect
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void CostmapTester::compareCells(costmap_2d::Costmap2D& costmap, unsigned int x, unsigned int y, unsigned int nx, unsigned int ny){
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double cell_distance = hypot(static_cast<int>(x-nx), static_cast<int>(y-ny));
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unsigned char cell_cost = costmap.getCost(x, y);
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unsigned char neighbor_cost = costmap.getCost(nx, ny);
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if(cell_cost == costmap_2d::LETHAL_OBSTACLE){
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//if the cell is a lethal obstacle, then we know that all its neighbors should have equal or slighlty less cost
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unsigned char expected_lowest_cost = 0; // ################costmap.computeCost(cell_distance);
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EXPECT_TRUE(neighbor_cost >= expected_lowest_cost || (cell_distance > 0 /*costmap.cell_inflation_radius_*/ && neighbor_cost == costmap_2d::FREE_SPACE));
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}
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else if(cell_cost == costmap_2d::INSCRIBED_INFLATED_OBSTACLE){
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//the furthest valid distance from an obstacle is the inscribed radius plus the cell distance away
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double furthest_valid_distance = 0; // ################costmap.cell_inscribed_radius_ + cell_distance + 1;
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unsigned char expected_lowest_cost = 0; // ################costmap.computeCost(furthest_valid_distance);
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if(neighbor_cost < expected_lowest_cost){
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printf("Cell cost (%d, %d): %d, neighbor cost (%d, %d): %d, expected lowest cost: %d, cell distance: %.2f, furthest valid distance: %.2f",
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x, y, cell_cost, nx, ny, neighbor_cost, expected_lowest_cost, cell_distance, furthest_valid_distance);
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printf("Cell: (%d, %d), Neighbor: (%d, %d)", x, y, nx, ny);
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costmap.saveMap("failing_costmap.pgm");
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}
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EXPECT_TRUE(neighbor_cost >= expected_lowest_cost || (furthest_valid_distance > 0/* costmap.cell_inflation_radius_ */&& neighbor_cost == costmap_2d::FREE_SPACE));
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}
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}
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};
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costmap_2d::CostmapTester* map_tester = NULL;
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int main(int argc, char** argv){
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tf3::BufferCore tf(tf3::Duration(10));
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map_tester = new costmap_2d::CostmapTester(tf);
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return(0);
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}
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