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Additional revision for costmap_bresenham_2d test #2862

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Merged
SteveMacenski merged 1 commit into from
Mar 23, 2022
Merged

Additional revision for costmap_bresenham_2d test #2862

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15 changes: 6 additions & 9 deletions nav2_costmap_2d/test/regression/costmap_bresenham_2d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,7 @@ class CostmapAction
ASSERT_TRUE(off < size_);
costmap_[off] = mark_val_;
}

inline unsigned int get(unsigned int off)
{
return costmap_[off];
Expand Down Expand Up @@ -107,29 +108,25 @@ TEST(costmap_2d, bresenham2DBoundariesCheck)

// Running on (x, 0) edge
y1 = 0;
for (unsigned int i = 0; i < sz_x; i++) {
x1 = i;
for (x1 = 0; x1 < sz_x; x1++) {
ct.raytraceLine(ca, x0, y0, x1, y1, max_length, min_length);
}

// Running on (x, sz_y) edge
y1 = sz_y - 1;
for (unsigned int i = 0; i < sz_x; i++) {
x1 = i;
for (x1 = 0; x1 < sz_x; x1++) {
ct.raytraceLine(ca, x0, y0, x1, y1, max_length, min_length);
}

// Running on (0, y) edge
x1 = 0;
for (unsigned int j = 0; j < sz_y; j++) {
y1 = j;
for (y1 = 0; y1 < sz_y; y1++) {
ct.raytraceLine(ca, x0, y0, x1, y1, max_length, min_length);
}

// Running on (sz_x, y) edge
x1 = sz_x;
for (unsigned int j = 0; j < sz_y; j++) {
y1 = j;
x1 = sz_x - 1;
for (y1 = 0; y1 < sz_y; y1++) {
ct.raytraceLine(ca, x0, y0, x1, y1, max_length, min_length);
}
}
Expand Down