From a573dc340bd50a54d150067c3650178ec0d9c7c2 Mon Sep 17 00:00:00 2001 From: stevedan Date: Tue, 19 Nov 2024 06:28:22 +0100 Subject: [PATCH] include more testing Signed-off-by: stevedan --- nav2_smac_planner/src/a_star.cpp | 2 +- nav2_smac_planner/test/test_a_star.cpp | 12 ++++++++++-- 2 files changed, 11 insertions(+), 3 deletions(-) diff --git a/nav2_smac_planner/src/a_star.cpp b/nav2_smac_planner/src/a_star.cpp index d09fc92393..7827f09088 100644 --- a/nav2_smac_planner/src/a_star.cpp +++ b/nav2_smac_planner/src/a_star.cpp @@ -262,7 +262,7 @@ void AStarAlgorithm::setGoal( // we just have to check whether the x and y are the same because the dim3 is not used // in the computation of the obstacle heuristic if (!_search_info.cache_obstacle_heuristic || - goals_coordinates != _goals_coordinates) + (goals_coordinates != _goals_coordinates)) { if (!_start) { throw std::runtime_error("Start must be set before goal."); diff --git a/nav2_smac_planner/test/test_a_star.cpp b/nav2_smac_planner/test/test_a_star.cpp index 22fc1deb60..a92463d18a 100644 --- a/nav2_smac_planner/test/test_a_star.cpp +++ b/nav2_smac_planner/test/test_a_star.cpp @@ -400,10 +400,17 @@ TEST(AStarTest, test_se2_single_pose_path) }; // functional case testing a_star.setCollisionChecker(checker.get()); + nav2_smac_planner::NodeHybrid::CoordinateVector path; + + // test with no goals set nor start + EXPECT_THROW( + a_star.createPath( + path, num_it, tolerance, + dummy_cancel_checker), std::runtime_error); + a_star.setStart(10u, 10u, 0u); // Goal is one costmap cell away a_star.setGoal(12u, 10u, 0u); - nav2_smac_planner::NodeHybrid::CoordinateVector path; EXPECT_TRUE(a_star.createPath(path, num_it, tolerance, dummy_cancel_checker)); // Check that the path is length one @@ -491,9 +498,10 @@ TEST(AStarTest, test_goal_heading_mode) // UNKNOWN goal heading mode a_star.setCollisionChecker(checker.get()); a_star.setStart(10u, 10u, 0u); + EXPECT_THROW( a_star.setGoal( - 80u, 80u, 40u, + 80u, 80u, 10u, nav2_smac_planner::GoalHeadingMode::UNKNOWN), std::runtime_error); }