git commit -m "first commit"

2026-05-28 10:29:58 +07:00
commit 167c52aeb6
2048 changed files with 740251 additions and 0 deletions
--- a/navigations/dwb_plugins/test/goal_checker.cpp
+++ b/navigations/dwb_plugins/test/goal_checker.cpp
@@ -0,0 +1,107 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2017, Locus Robotics
+ *  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.
+ */
+#include <gtest/gtest.h>
+#include <dwb_plugins/simple_goal_checker.h>
+#include <dwb_plugins/stopped_goal_checker.h>
+
+using dwb_plugins::SimpleGoalChecker;
+using dwb_plugins::StoppedGoalChecker;
+
+void checkMacro(dwb_local_planner::GoalChecker& gc,
+                double x0, double y0, double theta0,
+                double x1, double y1, double theta1,
+                double xv, double yv, double thetav,
+                bool expected_result)
+{
+  gc.reset();
+  geometry_msgs::Pose2D pose0, pose1;
+  pose0.x = x0;
+  pose0.y = y0;
+  pose0.theta = theta0;
+  pose1.x = x1;
+  pose1.y = y1;
+  pose1.theta = theta1;
+  nav_2d_msgs::Twist2D v;
+  v.x = xv;
+  v.y = yv;
+  v.theta = thetav;
+  if (expected_result)
+    EXPECT_TRUE(gc.isGoalReached(pose0, pose1, v));
+  else
+    EXPECT_FALSE(gc.isGoalReached(pose0, pose1, v));
+}
+
+void sameResult(dwb_local_planner::GoalChecker& gc0, dwb_local_planner::GoalChecker& gc1,
+                double x0, double y0, double theta0,
+                double x1, double y1, double theta1,
+                double xv, double yv, double thetav,
+                bool expected_result)
+{
+  checkMacro(gc0, x0, y0, theta0, x1, y1, theta1, xv, yv, thetav, expected_result);
+  checkMacro(gc1, x0, y0, theta0, x1, y1, theta1, xv, yv, thetav, expected_result);
+}
+
+void trueFalse(dwb_local_planner::GoalChecker& gc0, dwb_local_planner::GoalChecker& gc1,
+               double x0, double y0, double theta0,
+               double x1, double y1, double theta1,
+               double xv, double yv, double thetav)
+{
+  checkMacro(gc0, x0, y0, theta0, x1, y1, theta1, xv, yv, thetav, true);
+  checkMacro(gc1, x0, y0, theta0, x1, y1, theta1, xv, yv, thetav, false);
+}
+
+TEST(VelocityIterator, two_checks)
+{
+  ros::NodeHandle x;
+  SimpleGoalChecker gc;
+  StoppedGoalChecker sgc;
+  gc.initialize(x);
+  sgc.initialize(x);
+  sameResult(gc, sgc, 0, 0, 0, 0, 0, 0, 0, 0, 0, true);
+  sameResult(gc, sgc, 0, 0, 0, 1, 0, 0, 0, 0, 0, false);
+  sameResult(gc, sgc, 0, 0, 0, 0, 1, 0, 0, 0, 0, false);
+  sameResult(gc, sgc, 0, 0, 0, 0, 0, 1, 0, 0, 0, false);
+  sameResult(gc, sgc, 0, 0, 3.14, 0, 0, -3.14, 0, 0, 0, true);
+  trueFalse(gc, sgc, 0, 0, 3.14, 0, 0, -3.14, 1, 0, 0);
+  trueFalse(gc, sgc, 0, 0, 0, 0, 0, 0, 1, 0, 0);
+  trueFalse(gc, sgc, 0, 0, 0, 0, 0, 0, 0, 1, 0);
+  trueFalse(gc, sgc, 0, 0, 0, 0, 0, 0, 0, 0, 1);
+}
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "goal_checker");
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}