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Merged
SteveMacenski merged 6 commits into from
Sep 4, 2021
Merged

Add new test for nav2_regulated_pure_pursuit #2542

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1e3ce98
unit test for findDirChg
sathak93 Aug 31, 2021
b60bbdc
lint fix
sathak93 Aug 31, 2021
e324456
Merge branch 'ros-planning:main' into unit_test_pr
sathak93 Aug 31, 2021
4e87373
Merge branch 'unit_test_pr' of https://github.com/sathak93/navigation…
sathak93 Aug 31, 2021
494623b
add test for unchanged direction
sathak93 Sep 2, 2021
f977959
fix for loop ending
sathak93 Sep 2, 2021
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2 changes: 1 addition & 1 deletion nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -624,7 +624,7 @@ double RegulatedPurePursuitController::findDirectionChange(
const geometry_msgs::msg::PoseStamped & pose)
{
// Iterating through the global path to determine the position of the cusp
for (unsigned int pose_id = 1; pose_id < global_plan_.poses.size(); ++pose_id) {
for (unsigned int pose_id = 1; pose_id < global_plan_.poses.size() - 1; ++pose_id) {
// We have two vectors for the dot product OA and AB. Determining the vectors.
double oa_x = global_plan_.poses[pose_id].pose.position.x -
global_plan_.poses[pose_id - 1].pose.position.x;
Expand Down
33 changes: 33 additions & 0 deletions nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
#include <memory>
#include <string>
#include <vector>
#include <limits>

#include "gtest/gtest.h"
#include "rclcpp/rclcpp.hpp"
Expand Down Expand Up @@ -91,6 +92,12 @@ class BasicAPIRPP : public nav2_regulated_pure_pursuit_controller::RegulatedPure
dist_error, lookahead_dist, curvature, curr_speed, pose_cost,
linear_vel, sign);
}

double findDirectionChangeWrapper(
const geometry_msgs::msg::PoseStamped & pose)
{
return findDirectionChange(pose);
}
};

TEST(RegulatedPurePursuitTest, basicAPI)
Expand Down Expand Up @@ -144,6 +151,32 @@ TEST(RegulatedPurePursuitTest, createCarrotMsg)
EXPECT_EQ(rtn->point.z, 0.01);
}

TEST(RegulatedPurePursuitTest, findDirectionChange)
{
auto ctrl = std::make_shared<BasicAPIRPP>();
geometry_msgs::msg::PoseStamped pose;
pose.pose.position.x = 1.0;
pose.pose.position.y = 0.0;

nav_msgs::msg::Path path;
path.poses.resize(3);
path.poses[0].pose.position.x = 1.0;
path.poses[0].pose.position.y = 1.0;
path.poses[1].pose.position.x = 2.0;
path.poses[1].pose.position.y = 2.0;
path.poses[2].pose.position.x = -1.0;
path.poses[2].pose.position.y = -1.0;
ctrl->setPlan(path);
auto rtn = ctrl->findDirectionChangeWrapper(pose);
EXPECT_EQ(rtn, sqrt(5.0));

path.poses[2].pose.position.x = 3.0;
path.poses[2].pose.position.y = 3.0;
ctrl->setPlan(path);
rtn = ctrl->findDirectionChangeWrapper(pose);
EXPECT_EQ(rtn, std::numeric_limits<double>::max());
}

TEST(RegulatedPurePursuitTest, lookaheadAPI)
{
auto ctrl = std::make_shared<BasicAPIRPP>();
Expand Down