331 lines
11 KiB
C++
Executable File
331 lines
11 KiB
C++
Executable File
/*
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* Copyright (c) 2013, 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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/**
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* @author David Lu!!
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* Test harness for StaticMap Layer for Costmap2D
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*/
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#include <costmap_2d/costmap_2d.h>
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#include <costmap_2d/layered_costmap.h>
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#include <costmap_2d/obstacle_layer.h>
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#include <costmap_2d/static_layer.h>
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#include <costmap_2d/observation_buffer.h>
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#include <costmap_2d/testing_helper.h>
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#include <set>
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#include <gtest/gtest.h>
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using namespace costmap_2d;
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/**
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* Tests the reset method
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*
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TEST(costmap, testResetForStaticMap){
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// Define a static map with a large object in the center
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std::vector<unsigned char> staticMap;
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for(unsigned int i=0; i<10; i++){
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for(unsigned int j=0; j<10; j++){
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staticMap.push_back(costmap_2d::LETHAL_OBSTACLE);
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}
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}
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// Allocate the cost map, with a inflation to 3 cells all around
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Costmap2D map(10, 10, RESOLUTION, 0.0, 0.0, 3, 3, 3, OBSTACLE_RANGE, MAX_Z, RAYTRACE_RANGE, 25, staticMap, THRESHOLD);
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// Populate the cost map with a wall around the perimeter. Free space should clear out the room.
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pcl::PointCloud<pcl::PointXYZ> cloud;
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cloud.points.resize(40);
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// Left wall
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unsigned int ind = 0;
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for (unsigned int i = 0; i < 10; i++){
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// Left
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cloud.points[ind].x = 0;
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cloud.points[ind].y = i;
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cloud.points[ind].z = MAX_Z;
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ind++;
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// Top
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cloud.points[ind].x = i;
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cloud.points[ind].y = 0;
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cloud.points[ind].z = MAX_Z;
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ind++;
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// Right
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cloud.points[ind].x = 9;
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cloud.points[ind].y = i;
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cloud.points[ind].z = MAX_Z;
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ind++;
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// Bottom
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cloud.points[ind].x = i;
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cloud.points[ind].y = 9;
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cloud.points[ind].z = MAX_Z;
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ind++;
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}
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double wx = 5.0, wy = 5.0;
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geometry_msgs::Point p;
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p.x = wx;
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p.y = wy;
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p.z = MAX_Z;
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Observation obs(p, cloud, OBSTACLE_RANGE, RAYTRACE_RANGE);
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std::vector<Observation> obsBuf;
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obsBuf.push_back(obs);
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// Update the cost map for this observation
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map.updateWorld(wx, wy, obsBuf, obsBuf);
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// Verify that we now have only 36 cells with lethal cost, thus provong that we have correctly cleared
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// free space
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int hitCount = 0;
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for(unsigned int i=0; i < 10; ++i){
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for(unsigned int j=0; j < 10; ++j){
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if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
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hitCount++;
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}
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}
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}
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ASSERT_EQ(hitCount, 36);
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// Veriy that we have 64 non-leathal
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hitCount = 0;
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for(unsigned int i=0; i < 10; ++i){
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for(unsigned int j=0; j < 10; ++j){
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if(map.getCost(i, j) != costmap_2d::LETHAL_OBSTACLE)
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hitCount++;
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}
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}
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ASSERT_EQ(hitCount, 64);
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// Now if we reset the cost map, we should have our map go back to being completely occupied
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map.resetMapOutsideWindow(wx, wy, 0.0, 0.0);
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//We should now go back to everything being occupied
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hitCount = 0;
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for(unsigned int i=0; i < 10; ++i){
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for(unsigned int j=0; j < 10; ++j){
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if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE)
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hitCount++;
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}
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}
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ASSERT_EQ(hitCount, 100);
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}
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/** Test for copying a window of a costmap *
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TEST(costmap, testWindowCopy){
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Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
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10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD);
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/*
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for(unsigned int i = 0; i < 10; ++i){
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for(unsigned int j = 0; j < 10; ++j){
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printf("%3d ", map.getCost(i, j));
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}
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printf("\n");
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}
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printf("\n");
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*
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Costmap2D windowCopy;
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//first test that if we try to make a window that is too big, things fail
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windowCopy.copyCostmapWindow(map, 2.0, 2.0, 6.0, 12.0);
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ASSERT_EQ(windowCopy.getSizeInCellsX(), (unsigned int)0);
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ASSERT_EQ(windowCopy.getSizeInCellsY(), (unsigned int)0);
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//Next, test that trying to make a map window itself fails
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map.copyCostmapWindow(map, 2.0, 2.0, 6.0, 6.0);
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ASSERT_EQ(map.getSizeInCellsX(), (unsigned int)10);
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ASSERT_EQ(map.getSizeInCellsY(), (unsigned int)10);
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//Next, test that legal input generates the result that we expect
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windowCopy.copyCostmapWindow(map, 2.0, 2.0, 6.0, 6.0);
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ASSERT_EQ(windowCopy.getSizeInCellsX(), (unsigned int)6);
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ASSERT_EQ(windowCopy.getSizeInCellsY(), (unsigned int)6);
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//check that we actually get the windo that we expect
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for(unsigned int i = 0; i < windowCopy.getSizeInCellsX(); ++i){
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for(unsigned int j = 0; j < windowCopy.getSizeInCellsY(); ++j){
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ASSERT_EQ(windowCopy.getCost(i, j), map.getCost(i + 2, j + 2));
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//printf("%3d ", windowCopy.getCost(i, j));
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}
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//printf("\n");
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}
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}
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//test for updating costmaps with static data
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TEST(costmap, testFullyContainedStaticMapUpdate){
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Costmap2D map(5, 5, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
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10.0, MAX_Z, 10.0, 25, MAP_5_BY_5, THRESHOLD);
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Costmap2D static_map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
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10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD);
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map.updateStaticMapWindow(0, 0, 10, 10, MAP_10_BY_10);
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for(unsigned int i = 0; i < map.getSizeInCellsX(); ++i){
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for(unsigned int j = 0; j < map.getSizeInCellsY(); ++j){
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ASSERT_EQ(map.getCost(i, j), static_map.getCost(i, j));
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}
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}
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}
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TEST(costmap, testOverlapStaticMapUpdate){
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Costmap2D map(5, 5, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
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10.0, MAX_Z, 10.0, 25, MAP_5_BY_5, THRESHOLD);
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Costmap2D static_map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
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10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD);
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map.updateStaticMapWindow(-10, -10, 10, 10, MAP_10_BY_10);
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ASSERT_FLOAT_EQ(map.getOriginX(), -10);
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ASSERT_FLOAT_EQ(map.getOriginX(), -10);
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ASSERT_EQ(map.getSizeInCellsX(), (unsigned int)15);
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ASSERT_EQ(map.getSizeInCellsY(), (unsigned int)15);
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for(unsigned int i = 0; i < 10; ++i){
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for(unsigned int j = 0; j < 10; ++j){
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ASSERT_EQ(map.getCost(i, j), static_map.getCost(i, j));
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}
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}
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std::vector<unsigned char> blank(100);
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//check to make sure that inflation on updates are being done correctly
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map.updateStaticMapWindow(-10, -10, 10, 10, blank);
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for(unsigned int i = 0; i < map.getSizeInCellsX(); ++i){
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for(unsigned int j = 0; j < map.getSizeInCellsY(); ++j){
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ASSERT_EQ(map.getCost(i, j), 0);
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}
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}
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std::vector<unsigned char> fully_contained(25);
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fully_contained[0] = 254;
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fully_contained[4] = 254;
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fully_contained[5] = 254;
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fully_contained[9] = 254;
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Costmap2D small_static_map(5, 5, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
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10.0, MAX_Z, 10.0, 25, fully_contained, THRESHOLD);
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map.updateStaticMapWindow(0, 0, 5, 5, fully_contained);
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ASSERT_FLOAT_EQ(map.getOriginX(), -10);
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ASSERT_FLOAT_EQ(map.getOriginX(), -10);
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ASSERT_EQ(map.getSizeInCellsX(), (unsigned int)15);
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ASSERT_EQ(map.getSizeInCellsY(), (unsigned int)15);
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for(unsigned int j = 0; j < 5; ++j){
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for(unsigned int i = 0; i < 5; ++i){
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ASSERT_EQ(map.getCost(i + 10, j + 10), small_static_map.getCost(i, j));
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}
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}
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}
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TEST(costmap, testStaticMap){
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Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
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10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD);
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ASSERT_EQ(map.getSizeInCellsX(), (unsigned int)10);
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ASSERT_EQ(map.getSizeInCellsY(), (unsigned int)10);
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// Verify that obstacles correctly identified from the static map.
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std::vector<unsigned int> occupiedCells;
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for(unsigned int i = 0; i < 10; ++i){
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for(unsigned int j = 0; j < 10; ++j){
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if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
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occupiedCells.push_back(map.getIndex(i, j));
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}
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}
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}
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ASSERT_EQ(occupiedCells.size(), (unsigned int)20);
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// Iterate over all id's and verify that they are present according to their
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for(std::vector<unsigned int>::const_iterator it = occupiedCells.begin(); it != occupiedCells.end(); ++it){
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unsigned int ind = *it;
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unsigned int x, y;
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map.indexToCells(ind, x, y);
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ASSERT_EQ(find(occupiedCells, map.getIndex(x, y)), true);
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ASSERT_EQ(MAP_10_BY_10[ind] >= 100, true);
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ASSERT_EQ(map.getCost(x, y) >= 100, true);
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}
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// Block of 200
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ASSERT_EQ(find(occupiedCells, map.getIndex(7, 2)), true);
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ASSERT_EQ(find(occupiedCells, map.getIndex(8, 2)), true);
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ASSERT_EQ(find(occupiedCells, map.getIndex(9, 2)), true);
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ASSERT_EQ(find(occupiedCells, map.getIndex(7, 3)), true);
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ASSERT_EQ(find(occupiedCells, map.getIndex(8, 3)), true);
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ASSERT_EQ(find(occupiedCells, map.getIndex(9, 3)), true);
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ASSERT_EQ(find(occupiedCells, map.getIndex(7, 4)), true);
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ASSERT_EQ(find(occupiedCells, map.getIndex(8, 4)), true);
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ASSERT_EQ(find(occupiedCells, map.getIndex(9, 4)), true);
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// Block of 100
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ASSERT_EQ(find(occupiedCells, map.getIndex(4, 3)), true);
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ASSERT_EQ(find(occupiedCells, map.getIndex(4, 4)), true);
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// Block of 200
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ASSERT_EQ(find(occupiedCells, map.getIndex(3, 7)), true);
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ASSERT_EQ(find(occupiedCells, map.getIndex(4, 7)), true);
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ASSERT_EQ(find(occupiedCells, map.getIndex(5, 7)), true);
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// Verify Coordinate Transformations, ROW MAJOR ORDER
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ASSERT_EQ(worldToIndex(map, 0.0, 0.0), (unsigned int)0);
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ASSERT_EQ(worldToIndex(map, 0.0, 0.99), (unsigned int)0);
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ASSERT_EQ(worldToIndex(map, 0.0, 1.0), (unsigned int)10);
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ASSERT_EQ(worldToIndex(map, 1.0, 0.99), (unsigned int)1);
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ASSERT_EQ(worldToIndex(map, 9.99, 9.99), (unsigned int)99);
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ASSERT_EQ(worldToIndex(map, 8.2, 3.4), (unsigned int)38);
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// Ensure we hit the middle of the cell for world co-ordinates
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double wx, wy;
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indexToWorld(map, 99, wx, wy);
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ASSERT_EQ(wx, 9.5);
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ASSERT_EQ(wy, 9.5);
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}
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//*/
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int main(int argc, char** argv){
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ros::init(argc, argv, "obstacle_tests");
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testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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