108 lines
4.0 KiB
C++
Executable File
108 lines
4.0 KiB
C++
Executable File
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2017, Locus Robotics
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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
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* 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
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived
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* from 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
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* 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 <gtest/gtest.h>
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#include <dwb_plugins/simple_goal_checker.h>
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#include <dwb_plugins/stopped_goal_checker.h>
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using dwb_plugins::SimpleGoalChecker;
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using dwb_plugins::StoppedGoalChecker;
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void checkMacro(dwb_local_planner::GoalChecker& gc,
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double x0, double y0, double theta0,
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double x1, double y1, double theta1,
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double xv, double yv, double thetav,
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bool expected_result)
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{
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gc.reset();
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geometry_msgs::Pose2D pose0, pose1;
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pose0.x = x0;
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pose0.y = y0;
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pose0.theta = theta0;
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pose1.x = x1;
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pose1.y = y1;
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pose1.theta = theta1;
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nav_2d_msgs::Twist2D v;
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v.x = xv;
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v.y = yv;
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v.theta = thetav;
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if (expected_result)
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EXPECT_TRUE(gc.isGoalReached(pose0, pose1, v));
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else
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EXPECT_FALSE(gc.isGoalReached(pose0, pose1, v));
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}
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void sameResult(dwb_local_planner::GoalChecker& gc0, dwb_local_planner::GoalChecker& gc1,
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double x0, double y0, double theta0,
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double x1, double y1, double theta1,
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double xv, double yv, double thetav,
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bool expected_result)
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{
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checkMacro(gc0, x0, y0, theta0, x1, y1, theta1, xv, yv, thetav, expected_result);
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checkMacro(gc1, x0, y0, theta0, x1, y1, theta1, xv, yv, thetav, expected_result);
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}
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void trueFalse(dwb_local_planner::GoalChecker& gc0, dwb_local_planner::GoalChecker& gc1,
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double x0, double y0, double theta0,
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double x1, double y1, double theta1,
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double xv, double yv, double thetav)
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{
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checkMacro(gc0, x0, y0, theta0, x1, y1, theta1, xv, yv, thetav, true);
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checkMacro(gc1, x0, y0, theta0, x1, y1, theta1, xv, yv, thetav, false);
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}
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TEST(VelocityIterator, two_checks)
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{
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ros::NodeHandle x;
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SimpleGoalChecker gc;
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StoppedGoalChecker sgc;
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gc.initialize(x);
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sgc.initialize(x);
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sameResult(gc, sgc, 0, 0, 0, 0, 0, 0, 0, 0, 0, true);
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sameResult(gc, sgc, 0, 0, 0, 1, 0, 0, 0, 0, 0, false);
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sameResult(gc, sgc, 0, 0, 0, 0, 1, 0, 0, 0, 0, false);
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sameResult(gc, sgc, 0, 0, 0, 0, 0, 1, 0, 0, 0, false);
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sameResult(gc, sgc, 0, 0, 3.14, 0, 0, -3.14, 0, 0, 0, true);
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trueFalse(gc, sgc, 0, 0, 3.14, 0, 0, -3.14, 1, 0, 0);
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trueFalse(gc, sgc, 0, 0, 0, 0, 0, 0, 1, 0, 0);
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trueFalse(gc, sgc, 0, 0, 0, 0, 0, 0, 0, 1, 0);
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trueFalse(gc, sgc, 0, 0, 0, 0, 0, 0, 0, 0, 1);
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}
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int main(int argc, char **argv)
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{
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ros::init(argc, argv, "goal_checker");
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testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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