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duongtd
2026-01-15 10:25:40 +07:00
parent 5be1c20c80
commit 4d76ddc0c5
47 changed files with 168 additions and 168 deletions
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2
test/CubicConvolutionInterpolationTest.cpp
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@@ -13,7 +13,7 @@
// gtest
#include <gtest/gtest.h>
namespace gm = grid_map;
namespace gm = robot_grid_map;
namespace gmt = grid_map_test;
TEST(CubicConvolutionInterpolation, FlatWorld)

2
test/CubicInterpolationTest.cpp
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@@ -13,7 +13,7 @@
// gtest
#include <gtest/gtest.h>
namespace gm = grid_map;
namespace gm = robot_grid_map;
namespace gmt = grid_map_test;
TEST(CubicInterpolation, FlatWorld)

2
test/EigenPluginsTest.cpp
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@@ -106,7 +106,7 @@ TEST(EigenMatrixBaseAddons, clamp)
Eigen::Matrix3f matrix;
matrix << vector.segment(0, 3), vector.segment(3, 3), vector.segment(6, 3);
matrix(1, 1) = NAN;
matrix = matrix.unaryExpr(grid_map::Clamp<float>(2.1, 7.0));
matrix = matrix.unaryExpr(robot_grid_map::Clamp<float>(2.1, 7.0));
EXPECT_NEAR(2.1, matrix(0, 0), 1e-7);
EXPECT_NEAR(2.1, matrix(1, 0), 1e-7);
EXPECT_NEAR(3.0, matrix(2, 0), 1e-7);

8
test/EllipseIteratorTest.cpp
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@@ -15,10 +15,10 @@
// Vector
#include <vector>
using grid_map::GridMap;
using grid_map::Length;
using grid_map::Position;
using grid_map::EllipseIterator;
using robot_grid_map::GridMap;
using robot_grid_map::Length;
using robot_grid_map::Position;
using robot_grid_map::EllipseIterator;
TEST(EllipseIterator, OneCellWideEllipse)
{

8
test/GridMapIteratorTest.cpp
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@@ -15,10 +15,10 @@
// Vector
#include <vector>
using grid_map::GridMap;
using grid_map::Length;
using grid_map::Position;
using grid_map::GridMapIterator;
using robot_grid_map::GridMap;
using robot_grid_map::Length;
using robot_grid_map::Position;
using robot_grid_map::GridMapIterator;
TEST(GridMapIterator, Simple)
{

4
test/GridMapMathTest.cpp
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@@ -19,7 +19,7 @@
using std::numeric_limits;
namespace grid_map{
namespace robot_grid_map{
TEST(PositionFromIndex, Simple)
{
@@ -1036,4 +1036,4 @@ TEST(getIndexFromLinearIndex, Simple)
EXPECT_TRUE((Index(7, 4) == getIndexFromLinearIndex(39, Size(8, 5), false)).all());
}
} // namespace grid_map
} // namespace robot_grid_map

4
test/GridMapTest.cpp
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@@ -11,7 +11,7 @@
// gtest
#include <gtest/gtest.h>
namespace grid_map {
namespace robot_grid_map {
TEST(GridMap, CopyConstructor) {
GridMap map({"layer_a", "layer_b"});
@@ -493,4 +493,4 @@ TEST(ValueAtPosition, LinearInterpolated)
EXPECT_NEAR(2.1963200, value, 0.0000001);
}
} // namespace grid_map
} // namespace robot_grid_map

4
test/LineIteratorTest.cpp
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@@ -12,7 +12,7 @@
// gtest
#include <gtest/gtest.h>
namespace grid_map {
namespace robot_grid_map {
TEST(LineIterator, StartOutsideMap) {
GridMap map( { "types" });
@@ -175,4 +175,4 @@ TEST(LineIterator, StartAndEndOutsideMovedMap)
EXPECT_TRUE(iterator.isPastEnd());
}
} // namespace grid_map
} // namespace robot_grid_map

10
test/PolygonIteratorTest.cpp
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@@ -16,11 +16,11 @@
// Vector
#include <vector>
using grid_map::GridMap;
using grid_map::Length;
using grid_map::Polygon;
using grid_map::PolygonIterator;
using grid_map::Position;
using robot_grid_map::GridMap;
using robot_grid_map::Length;
using robot_grid_map::Polygon;
using robot_grid_map::PolygonIterator;
using robot_grid_map::Position;
TEST(PolygonIterator, FullCover) {
std::vector<std::string> types;

6
test/PolygonTest.cpp
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@@ -18,9 +18,9 @@ using Eigen::MatrixXd;
using Eigen::Vector2d;
using Eigen::VectorXd;
using grid_map::Length;
using grid_map::Polygon;
using grid_map::Position;
using robot_grid_map::Length;
using robot_grid_map::Polygon;
using robot_grid_map::Position;
TEST(Polygon, getCentroidTriangle)
{

10
test/SlidingWindowIteratorTest.cpp
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@@ -12,11 +12,11 @@
#include <gtest/gtest.h>
#include <vector>
using grid_map::GridMap;
using grid_map::Index;
using grid_map::Length;
using grid_map::Position;
using grid_map::SlidingWindowIterator;
using robot_grid_map::GridMap;
using robot_grid_map::Index;
using robot_grid_map::Length;
using robot_grid_map::Position;
using robot_grid_map::SlidingWindowIterator;
TEST(SlidingWindowIterator, WindowSize3Cutoff)
{

8
test/SpiralIteratorTest.cpp
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@@ -15,10 +15,10 @@
// Vector
#include <vector>
using grid_map::GridMap;
using grid_map::Length;
using grid_map::Position;
using grid_map::SpiralIterator;
using robot_grid_map::GridMap;
using robot_grid_map::Length;
using robot_grid_map::Position;
using robot_grid_map::SpiralIterator;
TEST(SpiralIterator, CenterOutOfMap)
{

8
test/SubmapIteratorTest.cpp
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@@ -21,7 +21,7 @@
using std::vector;
using std::string;
namespace grid_map{
namespace robot_grid_map{
TEST(SubmapIterator, Simple) {
Eigen::Array2i submapTopLeftIndex(3, 1);
@@ -191,8 +191,8 @@ TEST(SubmapIterator, CircularBuffer) {
* +----------------------------+
*/
TEST(SubmapIterator, InterleavedExecutionWithMove) {
grid_map::Index submapTopLeftIndex(3, 1);
grid_map::Size submapSize(2, 2);
robot_grid_map::Index submapTopLeftIndex(3, 1);
robot_grid_map::Size submapSize(2, 2);
GridMap map({"layer"});
@@ -264,4 +264,4 @@ TEST(SubmapIterator, InterleavedExecutionWithMove) {
// });
}
} // namespace grid_map
} // namespace robot_grid_map

40
test/test_helpers.cpp
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@@ -18,7 +18,7 @@ namespace grid_map_test {
std::mt19937 rndGenerator;
AnalyticalFunctions createFlatWorld(grid_map::GridMap *map)
AnalyticalFunctions createFlatWorld(robot_grid_map::GridMap *map)
{
AnalyticalFunctions func;
@@ -33,7 +33,7 @@ AnalyticalFunctions createFlatWorld(grid_map::GridMap *map)
}
AnalyticalFunctions createRationalFunctionWorld(grid_map::GridMap *map)
AnalyticalFunctions createRationalFunctionWorld(robot_grid_map::GridMap *map)
{
AnalyticalFunctions func;
@@ -54,7 +54,7 @@ AnalyticalFunctions createRationalFunctionWorld(grid_map::GridMap *map)
}
AnalyticalFunctions createSecondOrderPolyWorld(grid_map::GridMap *map)
AnalyticalFunctions createSecondOrderPolyWorld(robot_grid_map::GridMap *map)
{
AnalyticalFunctions func;
@@ -69,7 +69,7 @@ AnalyticalFunctions createSecondOrderPolyWorld(grid_map::GridMap *map)
}
AnalyticalFunctions createSaddleWorld(grid_map::GridMap *map)
AnalyticalFunctions createSaddleWorld(robot_grid_map::GridMap *map)
{
AnalyticalFunctions func;
@@ -83,7 +83,7 @@ AnalyticalFunctions createSaddleWorld(grid_map::GridMap *map)
}
AnalyticalFunctions createSineWorld(grid_map::GridMap *map)
AnalyticalFunctions createSineWorld(robot_grid_map::GridMap *map)
{
AnalyticalFunctions func;
@@ -104,7 +104,7 @@ AnalyticalFunctions createSineWorld(grid_map::GridMap *map)
}
AnalyticalFunctions createTanhWorld(grid_map::GridMap *map)
AnalyticalFunctions createTanhWorld(robot_grid_map::GridMap *map)
{
AnalyticalFunctions func;
@@ -121,7 +121,7 @@ AnalyticalFunctions createTanhWorld(grid_map::GridMap *map)
return func;
}
AnalyticalFunctions createGaussianWorld(grid_map::GridMap *map)
AnalyticalFunctions createGaussianWorld(robot_grid_map::GridMap *map)
{
struct Gaussian
@@ -166,13 +166,13 @@ AnalyticalFunctions createGaussianWorld(grid_map::GridMap *map)
return func;
}
void fillGridMap(grid_map::GridMap *map, const AnalyticalFunctions &functions)
void fillGridMap(robot_grid_map::GridMap *map, const AnalyticalFunctions &functions)
{
using grid_map::DataType;
using grid_map::GridMapIterator;
using grid_map::Index;
using grid_map::Matrix;
using grid_map::Position;
using robot_grid_map::DataType;
using robot_grid_map::GridMapIterator;
using robot_grid_map::Index;
using robot_grid_map::Matrix;
using robot_grid_map::Position;
Matrix& data = (*map)[testLayer];
for (GridMapIterator iterator(*map); !iterator.isPastEnd(); ++iterator) {
@@ -183,10 +183,10 @@ void fillGridMap(grid_map::GridMap *map, const AnalyticalFunctions &functions)
}
}
grid_map::GridMap createMap(const grid_map::Length &length, double resolution,
const grid_map::Position &pos)
robot_grid_map::GridMap createMap(const robot_grid_map::Length &length, double resolution,
const robot_grid_map::Position &pos)
{
grid_map::GridMap map;
robot_grid_map::GridMap map;
map.setGeometry(length, resolution, pos);
map.add(testLayer, 0.0);
@@ -195,7 +195,7 @@ grid_map::GridMap createMap(const grid_map::Length &length, double resolution,
return map;
}
std::vector<Point2D> uniformlyDitributedPointsWithinMap(const grid_map::GridMap &map,
std::vector<Point2D> uniformlyDitributedPointsWithinMap(const robot_grid_map::GridMap &map,
unsigned int numPoints)
{
@@ -215,11 +215,11 @@ std::vector<Point2D> uniformlyDitributedPointsWithinMap(const grid_map::GridMap
return points;
}
void verifyValuesAtQueryPointsAreClose(const grid_map::GridMap &map, const AnalyticalFunctions &trueValues,
void verifyValuesAtQueryPointsAreClose(const robot_grid_map::GridMap &map, const AnalyticalFunctions &trueValues,
const std::vector<Point2D> &queryPoints,
grid_map::InterpolationMethods interpolationMethod){
robot_grid_map::InterpolationMethods interpolationMethod){
for (const auto point : queryPoints) {
const grid_map::Position p(point.x_, point.y_);
const robot_grid_map::Position p(point.x_, point.y_);
const double trueValue = trueValues.f_(p.x(), p.y());
const double interpolatedValue = map.atPosition(
grid_map_test::testLayer, p, interpolationMethod);

28
test/test_helpers.hpp
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@@ -12,7 +12,7 @@
#include <vector>
#include <random>
namespace grid_map {
namespace robot_grid_map {
class GridMap;
}
@@ -48,8 +48,8 @@ extern std::mt19937 rndGenerator;
// Maximal tolerance when comparing doubles in tests.
const double maxAbsErrorValue = 1e-3;
grid_map::GridMap createMap(const grid_map::Length &length, double resolution,
const grid_map::Position &pos);
robot_grid_map::GridMap createMap(const robot_grid_map::Length &length, double resolution,
const robot_grid_map::Position &pos);
/*
* Collections of methods that modify the grid map.
@@ -64,24 +64,24 @@ grid_map::GridMap createMap(const grid_map::Length &length, double resolution,
* function.
* Each method returns a structure containing the analytical function.
*/
AnalyticalFunctions createFlatWorld(grid_map::GridMap *map);
AnalyticalFunctions createRationalFunctionWorld(grid_map::GridMap *map);
AnalyticalFunctions createSaddleWorld(grid_map::GridMap *map);
AnalyticalFunctions createSecondOrderPolyWorld(grid_map::GridMap *map);
AnalyticalFunctions createSineWorld(grid_map::GridMap *map);
AnalyticalFunctions createTanhWorld(grid_map::GridMap *map);
AnalyticalFunctions createGaussianWorld(grid_map::GridMap *map);
AnalyticalFunctions createFlatWorld(robot_grid_map::GridMap *map);
AnalyticalFunctions createRationalFunctionWorld(robot_grid_map::GridMap *map);
AnalyticalFunctions createSaddleWorld(robot_grid_map::GridMap *map);
AnalyticalFunctions createSecondOrderPolyWorld(robot_grid_map::GridMap *map);
AnalyticalFunctions createSineWorld(robot_grid_map::GridMap *map);
AnalyticalFunctions createTanhWorld(robot_grid_map::GridMap *map);
AnalyticalFunctions createGaussianWorld(robot_grid_map::GridMap *map);
/*
* Iterates over the grid map and fill it with values.
* values are calculated by evaluating analytical function.
*/
void fillGridMap(grid_map::GridMap *map, const AnalyticalFunctions &functions);
void fillGridMap(robot_grid_map::GridMap *map, const AnalyticalFunctions &functions);
/*
* Create numPoints uniformly distributed random points that lie within the grid map.
*/
std::vector<Point2D> uniformlyDitributedPointsWithinMap(const grid_map::GridMap &map,
std::vector<Point2D> uniformlyDitributedPointsWithinMap(const robot_grid_map::GridMap &map,
unsigned int numPoints);
/*
@@ -89,8 +89,8 @@ std::vector<Point2D> uniformlyDitributedPointsWithinMap(const grid_map::GridMap
* is close to the ground truth which is contained in Analytical functions structure.
* Called inside the tests. Calls macros from gtest.
*/
void verifyValuesAtQueryPointsAreClose(const grid_map::GridMap &map, const AnalyticalFunctions &trueValues,
void verifyValuesAtQueryPointsAreClose(const robot_grid_map::GridMap &map, const AnalyticalFunctions &trueValues,
const std::vector<Point2D> &queryPoints,
grid_map::InterpolationMethods interpolationMethod);
robot_grid_map::InterpolationMethods interpolationMethod);
} // namespace grid_map_test