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navigations/navfn/test/path_calc_test.cpp
Executable file
160
navigations/navfn/test/path_calc_test.cpp
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/*
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* Copyright (c) 2012, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <string>
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#include <ros/package.h>
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#include <gtest/gtest.h>
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#include <navfn/navfn.h>
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#include <navfn/read_pgm_costmap.h>
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// Load a willow garage costmap and return a NavFn instance using it.
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// If the costmap file fails to load, returns NULL.
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navfn::NavFn* make_willow_nav()
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{
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int sx,sy;
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std::string path = ros::package::getPath( ROS_PACKAGE_NAME ) + "/test/willow_costmap.pgm";
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COSTTYPE *cmap = readPGM( path.c_str(), &sx, &sy, true );
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if( cmap == NULL )
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{
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return NULL;
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}
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navfn::NavFn* nav = new navfn::NavFn(sx,sy);
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nav->priInc = 2*COST_NEUTRAL; // thin wavefront
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memcpy( nav->costarr, cmap, sx*sy );
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return nav;
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}
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void print_neighborhood_of_last_path_entry( navfn::NavFn* nav )
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{
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printf("last path entries:\n");
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for( int i = nav->npath - 4; i < nav->npath; i++ )
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{
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printf("%.3f, %.3f\n", nav->pathx[ i ], nav->pathy[ i ]);
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}
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printf("potential field neighborhood of last entry:\n");
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int xf = nav->pathx[ nav->npath-1 ];
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int yf = nav->pathy[ nav->npath-1 ];
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printf( " " );
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for( int x = xf - 2; x <= xf + 2; x++ )
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{
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printf( " %6d", x );
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}
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printf( "\n" );
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for( int y = yf - 2; y <= yf + 2; y++ )
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{
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printf( "%5d:", y );
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for( int x = xf - 2; x <= xf + 2; x++ )
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{
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printf( " %5.1f", nav->potarr[ y * nav->nx + x ] );
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}
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printf( "\n" );
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}
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printf("gradient neighborhood of last entry:\n");
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printf( " " );
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for( int x = xf - 2; x <= xf + 2; x++ )
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{
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printf( " %6d", x );
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}
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printf( "\n" );
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for( int y = yf - 2; y <= yf + 2; y++ )
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{
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printf( "%5d x:", y );
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for( int x = xf - 2; x <= xf + 2; x++ )
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{
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printf( " %5.1f", nav->gradx[ y * nav->nx + x ] );
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}
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printf( "\n" );
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printf( " y:" );
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for( int x = xf - 2; x <= xf + 2; x++ )
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{
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printf( " %5.1f", nav->grady[ y * nav->nx + x ] );
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}
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printf( "\n" );
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}
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}
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TEST(PathCalc, oscillate_in_pinch_point)
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{
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navfn::NavFn* nav = make_willow_nav();
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ASSERT_TRUE( nav != NULL );
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int goal[2];
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int start[2];
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start[0] = 428;
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start[1] = 746;
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goal[0] = 350;
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goal[1] = 450;
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nav->setGoal( goal );
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nav->setStart( start );
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bool plan_success = nav->calcNavFnDijkstra( true );
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EXPECT_TRUE( plan_success );
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if( !plan_success )
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{
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print_neighborhood_of_last_path_entry( nav );
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}
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}
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TEST(PathCalc, easy_nav_should_always_work)
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{
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navfn::NavFn* nav = make_willow_nav();
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ASSERT_TRUE( nav != NULL );
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int goal[2];
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int start[2];
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start[0] = 350;
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start[1] = 400;
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goal[0] = 350;
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goal[1] = 450;
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nav->setGoal( goal );
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nav->setStart( start );
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EXPECT_TRUE( nav->calcNavFnDijkstra( true ));
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}
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int main(int argc, char **argv)
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{
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testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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