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Apply raytraceLine 3D fixes to its 2D version (ros-navigation#2857)
(back-port of ros-navigation#2460 and ros-navigation#2784)
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ament_add_gtest(costmap_bresenham_2d costmap_bresenham_2d.cpp) | ||
target_link_libraries(costmap_bresenham_2d | ||
nav2_costmap_2d_core | ||
) |
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nav2_costmap_2d/test/regression/costmap_bresenham_2d.cpp
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/********************************************************************* | ||
* Software License Agreement (BSD License) | ||
* | ||
* Copyright (c) 2022 Samsung Research Russia | ||
* 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 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. | ||
* | ||
* Author: Alexey Merzlyakov | ||
*********************************************************************/ | ||
#include <nav2_costmap_2d/costmap_2d.hpp> | ||
#include <gtest/gtest.h> | ||
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class CostmapAction | ||
{ | ||
public: | ||
explicit CostmapAction( | ||
unsigned char * costmap, unsigned int size, unsigned char mark_val = 128) | ||
: costmap_(costmap), size_(size), mark_val_(mark_val) | ||
{ | ||
} | ||
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inline void operator()(unsigned int off) | ||
{ | ||
ASSERT_TRUE(off < size_); | ||
costmap_[off] = mark_val_; | ||
} | ||
inline unsigned int get(unsigned int off) | ||
{ | ||
return costmap_[off]; | ||
} | ||
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private: | ||
unsigned char * costmap_; | ||
unsigned int size_; | ||
unsigned char mark_val_; | ||
}; | ||
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class CostmapTest : public nav2_costmap_2d::Costmap2D | ||
{ | ||
public: | ||
CostmapTest( | ||
unsigned int size_x, unsigned int size_y, double resolution, | ||
double origin_x, double origin_y, unsigned char default_val = 0) | ||
: nav2_costmap_2d::Costmap2D(size_x, size_y, resolution, origin_x, origin_y, default_val) | ||
{ | ||
} | ||
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unsigned char * getCostmap() | ||
{ | ||
return costmap_; | ||
} | ||
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unsigned int getSize() | ||
{ | ||
return size_x_ * size_y_; | ||
} | ||
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void raytraceLine( | ||
CostmapAction ca, unsigned int x0, unsigned int y0, unsigned int x1, | ||
unsigned int y1, | ||
unsigned int max_length = UINT_MAX, unsigned int min_length = 0) | ||
{ | ||
nav2_costmap_2d::Costmap2D::raytraceLine(ca, x0, y0, x1, y1, max_length, min_length); | ||
} | ||
}; | ||
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TEST(costmap_2d, bresenham2DBoundariesCheck) | ||
{ | ||
const unsigned int sz_x = 60; | ||
const unsigned int sz_y = 60; | ||
const unsigned int max_length = 60; | ||
const unsigned int min_length = 6; | ||
CostmapTest ct(sz_x, sz_y, 0.1, 0.0, 0.0); | ||
CostmapAction ca(ct.getCostmap(), ct.getSize()); | ||
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// Initial point - some assymetrically standing point in order to cover most corner cases | ||
const unsigned int x0 = 2; | ||
const unsigned int y0 = 4; | ||
// (x1, y1) point will move | ||
unsigned int x1, y1; | ||
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// Running on (x, 0) edge | ||
y1 = 0; | ||
for (unsigned int i = 0; i < sz_x; i++) { | ||
x1 = i; | ||
ct.raytraceLine(ca, x0, y0, x1, y1, max_length, min_length); | ||
} | ||
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// Running on (x, sz_y) edge | ||
y1 = sz_y - 1; | ||
for (unsigned int i = 0; i < sz_x; i++) { | ||
x1 = i; | ||
ct.raytraceLine(ca, x0, y0, x1, y1, max_length, min_length); | ||
} | ||
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// Running on (0, y) edge | ||
x1 = 0; | ||
for (unsigned int j = 0; j < sz_y; j++) { | ||
y1 = j; | ||
ct.raytraceLine(ca, x0, y0, x1, y1, max_length, min_length); | ||
} | ||
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// Running on (sz_x, y) edge | ||
x1 = sz_x; | ||
for (unsigned int j = 0; j < sz_y; j++) { | ||
y1 = j; | ||
ct.raytraceLine(ca, x0, y0, x1, y1, max_length, min_length); | ||
} | ||
} | ||
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TEST(costmap_2d, bresenham2DSamePoint) | ||
{ | ||
const unsigned int sz_x = 60; | ||
const unsigned int sz_y = 60; | ||
const unsigned int max_length = 60; | ||
const unsigned int min_length = 0; | ||
CostmapTest ct(sz_x, sz_y, 0.1, 0.0, 0.0); | ||
CostmapAction ca(ct.getCostmap(), ct.getSize()); | ||
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// Initial point | ||
const double x0 = 2; | ||
const double y0 = 4; | ||
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unsigned int offset = y0 * sz_x + x0; | ||
unsigned char val_before = ca.get(offset); | ||
// Same point to check | ||
ct.raytraceLine(ca, x0, y0, x0, y0, max_length, min_length); | ||
unsigned char val_after = ca.get(offset); | ||
ASSERT_FALSE(val_before == val_after); | ||
} | ||
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int main(int argc, char ** argv) | ||
{ | ||
testing::InitGoogleTest(&argc, argv); | ||
return RUN_ALL_TESTS(); | ||
} |