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Added common linters (#96)

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Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
This commit is contained in:
Alejandro Hernández Cordero
2024-08-19 16:32:44 +02:00
committed by GitHub
parent ddf67cb25c
commit 6d79cd6546
10 changed files with 285 additions and 239 deletions
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58
test/projection_test.cpp
View File

@@ -1,32 +1,32 @@
/*
* Copyright (c) 2008, Willow Garage, Inc.
* Copyright (c) 2018, Bosch Software Innovations GmbH.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
// Copyright (c) 2008, Willow Garage, Inc.
// Copyright (c) 2018, Bosch Software Innovations GmbH.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of the copyright holder nor the names of its
// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
#define _USE_MATH_DEFINES
#include <gtest/gtest.h>

113
test/projection_test.py
View File

@@ -1,23 +1,51 @@
#!/usr/bin/env python3
# Copyright (c) 2014, Enrique Fernandez
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
#
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
#
# * Neither the name of the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
from itertools import product
from laser_geometry import LaserProjection
import numpy as np
import pytest
import rclpy
import rclpy.duration
import rclpy.time
import sensor_msgs_py.point_cloud2 as pc2
from sensor_msgs.msg import LaserScan
from laser_geometry import LaserProjection
import sensor_msgs_py.point_cloud2 as pc2
import numpy as np
from itertools import product
import pytest
PROJECTION_TEST_RANGE_MIN = 0.23
PROJECTION_TEST_RANGE_MIN = 0.23
PROJECTION_TEST_RANGE_MAX = 40.00
class BuildScanException(Exception):
pass
def build_constant_scan(
range_val, intensity_val,
angle_min, angle_max, angle_increment, scan_time):
@@ -27,7 +55,7 @@ def build_constant_scan(
scan = LaserScan()
scan.header.stamp = rclpy.time.Time(seconds=10.10).to_msg()
scan.header.frame_id = "laser_frame"
scan.header.frame_id = 'laser_frame'
scan.angle_min = angle_min
scan.angle_max = angle_max
scan.angle_increment = angle_increment
@@ -40,8 +68,9 @@ def build_constant_scan(
return scan
def test_project_laser():
tolerance = 6 # decimal places
tolerance = 6 # decimal places
projector = LaserProjection()
ranges = [-1.0, 1.0, 5.0, 100.0]
@@ -56,8 +85,10 @@ def test_project_laser():
for range_val, intensity_val, \
angle_min, angle_max, angle_increment, scan_time in \
product(ranges, intensities,
min_angles, max_angles, angle_increments, scan_times):
product(
ranges, intensities,
min_angles, max_angles,
angle_increments, scan_times):
try:
scan = build_constant_scan(
range_val, intensity_val,
@@ -65,23 +96,21 @@ def test_project_laser():
except BuildScanException:
assert (angle_max - angle_min)/angle_increment <= 0
cloud_out = projector.projectLaser(scan, -1.0,
LaserProjection.ChannelOption.INTENSITY |
LaserProjection.ChannelOption.INDEX |
LaserProjection.ChannelOption.DISTANCE |
LaserProjection.ChannelOption.TIMESTAMP)
assert len(cloud_out.fields) == 7, \
"PointCloud2 with channel INDEX: fields size != 7"
cloud_out = projector.projectLaser(
scan, -1.0,
LaserProjection.ChannelOption.INTENSITY |
LaserProjection.ChannelOption.INDEX |
LaserProjection.ChannelOption.DISTANCE |
LaserProjection.ChannelOption.TIMESTAMP)
assert len(cloud_out.fields) == 7, 'PointCloud2 with channel INDEX: fields size != 7'
valid_points = 0
for i in range(len(scan.ranges)):
ri = scan.ranges[i]
if (PROJECTION_TEST_RANGE_MIN <= ri and
ri <= PROJECTION_TEST_RANGE_MAX):
if (PROJECTION_TEST_RANGE_MIN <= ri and ri <= PROJECTION_TEST_RANGE_MAX):
valid_points += 1
assert valid_points == cloud_out.width, \
"Valid points != PointCloud2 width"
assert valid_points == cloud_out.width, 'Valid points != PointCloud2 width'
idx_x = idx_y = idx_z = 0
idx_intensity = idx_index = 0
@@ -89,19 +118,19 @@ def test_project_laser():
i = 0
for f in cloud_out.fields:
if f.name == "x":
if f.name == 'x':
idx_x = i
elif f.name == "y":
elif f.name == 'y':
idx_y = i
elif f.name == "z":
elif f.name == 'z':
idx_z = i
elif f.name == "intensity":
elif f.name == 'intensity':
idx_intensity = i
elif f.name == "index":
elif f.name == 'index':
idx_index = i
elif f.name == "distances":
elif f.name == 'distances':
idx_distance = i
elif f.name == "stamps":
elif f.name == 'stamps':
idx_stamps = i
i += 1
@@ -110,20 +139,18 @@ def test_project_laser():
ri = scan.ranges[i]
ai = scan.angle_min + i * scan.angle_increment
assert point[idx_x] == pytest.approx(ri * np.cos(ai),
abs=tolerance), "x not equal"
assert point[idx_y] == pytest.approx(ri * np.sin(ai),
tolerance), "y not equal"
assert point[idx_z] == pytest.approx(0, tolerance), "z not equal"
assert point[idx_intensity] == pytest.approx(scan.intensities[i],
tolerance), "Intensity not equal"
assert point[idx_index] == pytest.approx(i, tolerance), \
"Index not equal"
assert point[idx_distance] == pytest.approx(ri, tolerance), \
"Distance not equal"
assert point[idx_x] == pytest.approx(ri * np.cos(ai), abs=tolerance), 'x not equal'
assert point[idx_y] == pytest.approx(ri * np.sin(ai), tolerance), 'y not equal'
assert point[idx_z] == pytest.approx(0, tolerance), 'z not equal'
assert point[idx_intensity] == pytest.approx(
scan.intensities[i],
tolerance), 'Intensity not equal'
assert point[idx_index] == pytest.approx(i, tolerance), 'Index not equal'
assert point[idx_distance] == pytest.approx(ri, tolerance), 'Distance not equal'
assert point[idx_stamps] == pytest.approx(
i * scan.time_increment, tolerance), "Timestamp not equal"
i * scan.time_increment, tolerance), 'Timestamp not equal'
i += 1
if __name__ == '__main__':
pytest.main()