/*
* Copyright (c) 2008, Willow Garage, Inc.
* 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 the 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 Conor McGann
* Test harness for Costmap2D
*/
#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/observation_buffer.h>
#include <set>
#include <gtest/gtest.h>
using namespace costmap_2d;
const unsigned char MAP_10_BY_10_CHAR[] = {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 200, 200, 200,
0, 0, 0, 0, 100, 0, 0, 200, 200, 200,
0, 0, 0, 0, 100, 0, 0, 200, 200, 200,
70, 70, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 200, 200, 200, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 255, 255, 255,
0, 0, 0, 0, 0, 0, 0, 255, 255, 255
};
const unsigned char MAP_5_BY_5_CHAR[] = {
0, 0, 0, 0, 0,
0, 0, 0, 0, 0,
0, 0, 0, 0, 0,
0, 0, 0, 0, 0,
0, 0, 0, 0, 0,
};
std::vector<unsigned char> MAP_5_BY_5;
std::vector<unsigned char> MAP_10_BY_10;
std::vector<unsigned char> EMPTY_10_BY_10;
std::vector<unsigned char> EMPTY_100_BY_100;
const unsigned int GRID_WIDTH(10);
const unsigned int GRID_HEIGHT(10);
const double RESOLUTION(1);
const double WINDOW_LENGTH(10);
const unsigned char THRESHOLD(100);
const double MAX_Z(1.0);
const double RAYTRACE_RANGE(20.0);
const double OBSTACLE_RANGE(20.0);
const double ROBOT_RADIUS(1.0);
bool find(const std::vector<unsigned int>& l, unsigned int n){
for(std::vector<unsigned int>::const_iterator it = l.begin(); it != l.end(); ++it){
if(*it == n)
return true;
}
return false;
}
/**
* Tests the reset method
*/
TEST(costmap, testResetForStaticMap){
// Define a static map with a large object in the center
std::vector<unsigned char> staticMap;
for(unsigned int i=0; i<10; i++){
for(unsigned int j=0; j<10; j++){
staticMap.push_back(costmap_2d::LETHAL_OBSTACLE);
}
}
// Allocate the cost map, with a inflation to 3 cells all around
Costmap2D map(10, 10, RESOLUTION, 0.0, 0.0, 3, 3, 3, OBSTACLE_RANGE, MAX_Z, RAYTRACE_RANGE, 25, staticMap, THRESHOLD);
// Populate the cost map with a wall around the perimeter. Free space should clear out the room.
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud.points.resize(40);
// Left wall
unsigned int ind = 0;
for (unsigned int i = 0; i < 10; i++){
// Left
cloud.points[ind].x = 0;
cloud.points[ind].y = i;
cloud.points[ind].z = MAX_Z;
ind++;
// Top
cloud.points[ind].x = i;
cloud.points[ind].y = 0;
cloud.points[ind].z = MAX_Z;
ind++;
// Right
cloud.points[ind].x = 9;
cloud.points[ind].y = i;
cloud.points[ind].z = MAX_Z;
ind++;
// Bottom
cloud.points[ind].x = i;
cloud.points[ind].y = 9;
cloud.points[ind].z = MAX_Z;
ind++;
}
double wx = 5.0, wy = 5.0;
geometry_msgs::Point p;
p.x = wx;
p.y = wy;
p.z = MAX_Z;
Observation obs(p, cloud, OBSTACLE_RANGE, RAYTRACE_RANGE);
std::vector<Observation> obsBuf;
obsBuf.push_back(obs);
// Update the cost map for this observation
map.updateWorld(wx, wy, obsBuf, obsBuf);
// Verify that we now have only 36 cells with lethal cost, thus provong that we have correctly cleared
// free space
int hitCount = 0;
for(unsigned int i=0; i < 10; ++i){
for(unsigned int j=0; j < 10; ++j){
if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
hitCount++;
}
}
}
ASSERT_EQ(hitCount, 36);
// Veriy that we have 64 non-leathal
hitCount = 0;
for(unsigned int i=0; i < 10; ++i){
for(unsigned int j=0; j < 10; ++j){
if(map.getCost(i, j) != costmap_2d::LETHAL_OBSTACLE)
hitCount++;
}
}
ASSERT_EQ(hitCount, 64);
// Now if we reset the cost map, we should have our map go back to being completely occupied
map.resetMapOutsideWindow(wx, wy, 0.0, 0.0);
//We should now go back to everything being occupied
hitCount = 0;
for(unsigned int i=0; i < 10; ++i){
for(unsigned int j=0; j < 10; ++j){
if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE)
hitCount++;
}
}
ASSERT_EQ(hitCount, 100);
}
/**
* Test for the cost function correctness with a larger range and different values
*/
TEST(costmap, testCostFunctionCorrectness){
Costmap2D map(100, 100, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS * 5.0, ROBOT_RADIUS * 8.0, ROBOT_RADIUS * 10.5,
100.0, MAX_Z, 100.0, 25, EMPTY_100_BY_100, THRESHOLD);
// Verify that the circumscribed cost lower bound is as expected: based on the cost function.
unsigned char c = map.computeCost((ROBOT_RADIUS * 8.0 / RESOLUTION));
ASSERT_EQ(map.getCircumscribedCost(), c);
// Add a point in the center
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud.points.resize(1);
cloud.points[0].x = 50;
cloud.points[0].y = 50;
cloud.points[0].z = MAX_Z;
geometry_msgs::Point p;
p.x = 0.0;
p.y = 0.0;
p.z = MAX_Z;
Observation obs(p, cloud, 100.0, 100.0);
std::vector<Observation> obsBuf;
obsBuf.push_back(obs);
map.updateWorld(0, 0, obsBuf, obsBuf);
for(unsigned int i = 0; i <= (unsigned int)ceil(ROBOT_RADIUS * 5.0); i++){
// To the right
ASSERT_EQ(map.getCost(50 + i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
ASSERT_EQ(map.getCost(50 + i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
// To the left
ASSERT_EQ(map.getCost(50 - i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
ASSERT_EQ(map.getCost(50 - i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
// Down
ASSERT_EQ(map.getCost(50, 50 + i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
ASSERT_EQ(map.getCost(50, 50 + i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
// Up
ASSERT_EQ(map.getCost(50, 50 - i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
ASSERT_EQ(map.getCost(50, 50 - i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
}
// Verify the normalized cost attenuates as expected
for(unsigned int i = (unsigned int)(ceil(ROBOT_RADIUS * 5.0) + 1); i <= (unsigned int)ceil(ROBOT_RADIUS * 10.5); i++){
unsigned char expectedValue = map.computeCost(i / RESOLUTION);
ASSERT_EQ(map.getCost(50 + i, 50), expectedValue);
}
// Update with no hits. Should clear (revert to the static map
map.resetMapOutsideWindow(0, 0, 0.0, 0.0);
cloud.points.resize(0);
p.x = 0.0;
p.y = 0.0;
p.z = MAX_Z;
Observation obs2(p, cloud, 100.0, 100.0);
std::vector<Observation> obsBuf2;
obsBuf2.push_back(obs2);
map.updateWorld(0, 0, obsBuf2, obsBuf2);
for(unsigned int i = 0; i < 100; i++)
for(unsigned int j = 0; j < 100; j++)
ASSERT_EQ(map.getCost(i, j), costmap_2d::FREE_SPACE);
}
char printableCost( unsigned char cost )
{
switch( cost )
{
case NO_INFORMATION: return '?';
case LETHAL_OBSTACLE: return 'L';
case INSCRIBED_INFLATED_OBSTACLE: return 'I';
case FREE_SPACE: return '.';
default: return '0' + (unsigned char) (10 * cost / 255);
}
}
/**
* Test for wave interference
*/
TEST(costmap, testWaveInterference){
// Start with an empty map
Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS * 2, ROBOT_RADIUS * 3.01,
10.0, MAX_Z * 2, 10.0, 1, EMPTY_10_BY_10, THRESHOLD);
// Lay out 3 obstacles in a line - along the diagonal, separated by a cell.
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud.points.resize(3);
cloud.points[0].x = 3;
cloud.points[0].y = 3;
cloud.points[0].z = MAX_Z;
cloud.points[1].x = 5;
cloud.points[1].y = 5;
cloud.points[1].z = MAX_Z;
cloud.points[2].x = 7;
cloud.points[2].y = 7;
cloud.points[2].z = MAX_Z;
geometry_msgs::Point p;
p.x = 0.0;
p.y = 0.0;
p.z = MAX_Z;
Observation obs(p, cloud, 100.0, 100.0);
std::vector<Observation> obsBuf;
obsBuf.push_back(obs);
map.updateWorld(0, 0, obsBuf, obsBuf);
int update_count = 0;
// Expect to see a union of obstacles
printf("map:\n");
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
if(map.getCost(i, j) != costmap_2d::FREE_SPACE){
update_count++;
}
printf("%c", printableCost( map.getCost( i, j )));
}
printf("\n");
}
ASSERT_EQ(update_count, 79);
}
/** Test for copying a window of a costmap */
TEST(costmap, testWindowCopy){
Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD);
/*
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
printf("%3d ", map.getCost(i, j));
}
printf("\n");
}
printf("\n");
*/
Costmap2D windowCopy;
//first test that if we try to make a window that is too big, things fail
windowCopy.copyCostmapWindow(map, 2.0, 2.0, 6.0, 12.0);
ASSERT_EQ(windowCopy.getSizeInCellsX(), (unsigned int)0);
ASSERT_EQ(windowCopy.getSizeInCellsY(), (unsigned int)0);
//Next, test that trying to make a map window itself fails
map.copyCostmapWindow(map, 2.0, 2.0, 6.0, 6.0);
ASSERT_EQ(map.getSizeInCellsX(), (unsigned int)10);
ASSERT_EQ(map.getSizeInCellsY(), (unsigned int)10);
//Next, test that legal input generates the result that we expect
windowCopy.copyCostmapWindow(map, 2.0, 2.0, 6.0, 6.0);
ASSERT_EQ(windowCopy.getSizeInCellsX(), (unsigned int)6);
ASSERT_EQ(windowCopy.getSizeInCellsY(), (unsigned int)6);
//check that we actually get the windo that we expect
for(unsigned int i = 0; i < windowCopy.getSizeInCellsX(); ++i){
for(unsigned int j = 0; j < windowCopy.getSizeInCellsY(); ++j){
ASSERT_EQ(windowCopy.getCost(i, j), map.getCost(i + 2, j + 2));
//printf("%3d ", windowCopy.getCost(i, j));
}
//printf("\n");
}
}
//test for updating costmaps with static data
TEST(costmap, testFullyContainedStaticMapUpdate){
Costmap2D map(5, 5, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
10.0, MAX_Z, 10.0, 25, MAP_5_BY_5, THRESHOLD);
Costmap2D static_map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD);
map.updateStaticMapWindow(0, 0, 10, 10, MAP_10_BY_10);
for(unsigned int i = 0; i < map.getSizeInCellsX(); ++i){
for(unsigned int j = 0; j < map.getSizeInCellsY(); ++j){
ASSERT_EQ(map.getCost(i, j), static_map.getCost(i, j));
}
}
}
TEST(costmap, testOverlapStaticMapUpdate){
Costmap2D map(5, 5, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
10.0, MAX_Z, 10.0, 25, MAP_5_BY_5, THRESHOLD);
Costmap2D static_map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD);
map.updateStaticMapWindow(-10, -10, 10, 10, MAP_10_BY_10);
ASSERT_FLOAT_EQ(map.getOriginX(), -10);
ASSERT_FLOAT_EQ(map.getOriginX(), -10);
ASSERT_EQ(map.getSizeInCellsX(), (unsigned int)15);
ASSERT_EQ(map.getSizeInCellsY(), (unsigned int)15);
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
ASSERT_EQ(map.getCost(i, j), static_map.getCost(i, j));
}
}
std::vector<unsigned char> blank(100);
//check to make sure that inflation on updates are being done correctly
map.updateStaticMapWindow(-10, -10, 10, 10, blank);
for(unsigned int i = 0; i < map.getSizeInCellsX(); ++i){
for(unsigned int j = 0; j < map.getSizeInCellsY(); ++j){
ASSERT_EQ(map.getCost(i, j), 0);
}
}
std::vector<unsigned char> fully_contained(25);
fully_contained[0] = 254;
fully_contained[4] = 254;
fully_contained[5] = 254;
fully_contained[9] = 254;
Costmap2D small_static_map(5, 5, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
10.0, MAX_Z, 10.0, 25, fully_contained, THRESHOLD);
map.updateStaticMapWindow(0, 0, 5, 5, fully_contained);
ASSERT_FLOAT_EQ(map.getOriginX(), -10);
ASSERT_FLOAT_EQ(map.getOriginX(), -10);
ASSERT_EQ(map.getSizeInCellsX(), (unsigned int)15);
ASSERT_EQ(map.getSizeInCellsY(), (unsigned int)15);
for(unsigned int j = 0; j < 5; ++j){
for(unsigned int i = 0; i < 5; ++i){
ASSERT_EQ(map.getCost(i + 10, j + 10), small_static_map.getCost(i, j));
}
}
}
/**
* Test for ray tracing free space
*/
TEST(costmap, testRaytracing){
Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD);
// Add a point cloud, should not affect the map
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud.points.resize(1);
cloud.points[0].x = 0;
cloud.points[0].y = 0;
cloud.points[0].z = MAX_Z;
geometry_msgs::Point p;
p.x = 0.0;
p.y = 0.0;
p.z = MAX_Z;
Observation obs(p, cloud, 100.0, 100.0);
std::vector<Observation> obsBuf;
obsBuf.push_back(obs);
map.updateWorld(0, 0, obsBuf, obsBuf);
int lethal_count = 0;
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
lethal_count++;
}
}
}
//we expect just one obstacle to be added
ASSERT_EQ(lethal_count, 21);
}
TEST(costmap, testAdjacentToObstacleCanStillMove){
Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, 2.1, 3.1, 4.1,
10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD);
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud.points.resize(1);
cloud.points[0].x = 0;
cloud.points[0].y = 0;
cloud.points[0].z = MAX_Z;
geometry_msgs::Point p;
p.x = 0.0;
p.y = 0.0;
p.z = MAX_Z;
Observation obs(p, cloud, 100.0, 100.0);
std::vector<Observation> obsBuf;
obsBuf.push_back(obs);
map.updateWorld(9, 9, obsBuf, obsBuf);
EXPECT_EQ( LETHAL_OBSTACLE, map.getCost( 0, 0 ));
EXPECT_EQ( INSCRIBED_INFLATED_OBSTACLE, map.getCost( 1, 0 ));
EXPECT_EQ( INSCRIBED_INFLATED_OBSTACLE, map.getCost( 2, 0 ));
EXPECT_TRUE( INSCRIBED_INFLATED_OBSTACLE > map.getCost( 3, 0 ));
EXPECT_TRUE( INSCRIBED_INFLATED_OBSTACLE > map.getCost( 2, 1 ));
EXPECT_EQ( INSCRIBED_INFLATED_OBSTACLE, map.getCost( 1, 1 ));
}
TEST(costmap, testInflationShouldNotCreateUnknowns){
Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, 2.1, 3.1, 4.1,
10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD);
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud.points.resize(1);
cloud.points[0].x = 0;
cloud.points[0].y = 0;
cloud.points[0].z = MAX_Z;
geometry_msgs::Point p;
p.x = 0.0;
p.y = 0.0;
p.z = MAX_Z;
Observation obs(p, cloud, 100.0, 100.0);
std::vector<Observation> obsBuf;
obsBuf.push_back(obs);
map.updateWorld(9, 9, obsBuf, obsBuf);
int unknown_count = 0;
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
if(map.getCost(i, j) == costmap_2d::NO_INFORMATION){
unknown_count++;
}
}
}
EXPECT_EQ( 0, unknown_count );
}
unsigned int worldToIndex(Costmap2D& map, double wx, double wy){
unsigned int mx, my;
map.worldToMap(wx, wy, mx, my);
return map.getIndex(mx, my);
}
void indexToWorld(Costmap2D& map, unsigned int index, double& wx, double& wy){
unsigned int mx, my;
map.indexToCells(index, mx, my);
map.mapToWorld(mx, my, wx, wy);
}
TEST(costmap, testStaticMap){
Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD);
ASSERT_EQ(map.getSizeInCellsX(), (unsigned int)10);
ASSERT_EQ(map.getSizeInCellsY(), (unsigned int)10);
// Verify that obstacles correctly identified from the static map.
std::vector<unsigned int> occupiedCells;
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
occupiedCells.push_back(map.getIndex(i, j));
}
}
}
ASSERT_EQ(occupiedCells.size(), (unsigned int)20);
// Iterate over all id's and verify that they are present according to their
for(std::vector<unsigned int>::const_iterator it = occupiedCells.begin(); it != occupiedCells.end(); ++it){
unsigned int ind = *it;
unsigned int x, y;
map.indexToCells(ind, x, y);
ASSERT_EQ(find(occupiedCells, map.getIndex(x, y)), true);
ASSERT_EQ(MAP_10_BY_10[ind] >= 100, true);
ASSERT_EQ(map.getCost(x, y) >= 100, true);
}
// Block of 200
ASSERT_EQ(find(occupiedCells, map.getIndex(7, 2)), true);
ASSERT_EQ(find(occupiedCells, map.getIndex(8, 2)), true);
ASSERT_EQ(find(occupiedCells, map.getIndex(9, 2)), true);
ASSERT_EQ(find(occupiedCells, map.getIndex(7, 3)), true);
ASSERT_EQ(find(occupiedCells, map.getIndex(8, 3)), true);
ASSERT_EQ(find(occupiedCells, map.getIndex(9, 3)), true);
ASSERT_EQ(find(occupiedCells, map.getIndex(7, 4)), true);
ASSERT_EQ(find(occupiedCells, map.getIndex(8, 4)), true);
ASSERT_EQ(find(occupiedCells, map.getIndex(9, 4)), true);
// Block of 100
ASSERT_EQ(find(occupiedCells, map.getIndex(4, 3)), true);
ASSERT_EQ(find(occupiedCells, map.getIndex(4, 4)), true);
// Block of 200
ASSERT_EQ(find(occupiedCells, map.getIndex(3, 7)), true);
ASSERT_EQ(find(occupiedCells, map.getIndex(4, 7)), true);
ASSERT_EQ(find(occupiedCells, map.getIndex(5, 7)), true);
// Verify Coordinate Transformations, ROW MAJOR ORDER
ASSERT_EQ(worldToIndex(map, 0.0, 0.0), (unsigned int)0);
ASSERT_EQ(worldToIndex(map, 0.0, 0.99), (unsigned int)0);
ASSERT_EQ(worldToIndex(map, 0.0, 1.0), (unsigned int)10);
ASSERT_EQ(worldToIndex(map, 1.0, 0.99), (unsigned int)1);
ASSERT_EQ(worldToIndex(map, 9.99, 9.99), (unsigned int)99);
ASSERT_EQ(worldToIndex(map, 8.2, 3.4), (unsigned int)38);
// Ensure we hit the middle of the cell for world co-ordinates
double wx, wy;
indexToWorld(map, 99, wx, wy);
ASSERT_EQ(wx, 9.5);
ASSERT_EQ(wy, 9.5);
}
/**
* Verify that dynamic obstacles are added
*/
TEST(costmap, testDynamicObstacles){
Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD);
// Add a point cloud and verify its insertion. There should be only one new one
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud.points.resize(3);
cloud.points[0].x = 0;
cloud.points[0].y = 0;
cloud.points[1].x = 0;
cloud.points[1].y = 0;
cloud.points[2].x = 0;
cloud.points[2].y = 0;
geometry_msgs::Point p;
p.x = 0.0;
p.y = 0.0;
p.z = MAX_Z;
Observation obs(p, cloud, 100.0, 100.0);
std::vector<Observation> obsBuf;
obsBuf.push_back(obs);
map.updateWorld(0, 0, obsBuf, obsBuf);
std::vector<unsigned int> ids;
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
ids.push_back(map.getIndex(i, j));
}
}
}
// Should now have 1 insertion and no deletions
ASSERT_EQ(ids.size(), (unsigned int)21);
// Repeating the call - we should see no insertions or deletions
map.updateWorld(0, 0, obsBuf, obsBuf);
ASSERT_EQ(ids.size(), (unsigned int)21);
}
/**
* Verify that if we add a point that is already a static obstacle we do not end up with a new ostacle
*/
TEST(costmap, testMultipleAdditions){
Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD);
// A point cloud with one point that falls within an existing obstacle
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud.points.resize(1);
cloud.points[0].x = 7;
cloud.points[0].y = 2;
geometry_msgs::Point p;
p.x = 0.0;
p.y = 0.0;
p.z = MAX_Z;
Observation obs(p, cloud, 100.0, 100.0);
std::vector<Observation> obsBuf;
obsBuf.push_back(obs);
map.updateWorld(0, 0, obsBuf, obsBuf);
std::vector<unsigned int> ids;
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
ids.push_back(map.getIndex(i, j));
}
}
}
ASSERT_EQ(ids.size(), (unsigned int)20);
}
/**
* Make sure we ignore points outside of our z threshold
*/
TEST(costmap, testZThreshold){
Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD);
// A point cloud with 2 points falling in a cell with a non-lethal cost
pcl::PointCloud<pcl::PointXYZ> c0;
c0.points.resize(2);
c0.points[0].x = 0;
c0.points[0].y = 5;
c0.points[0].z = 0.4;
c0.points[1].x = 1;
c0.points[1].y = 5;
c0.points[1].z = 1.2;
geometry_msgs::Point p;
p.x = 0.0;
p.y = 0.0;
p.z = MAX_Z;
Observation obs(p, c0, 100.0, 100.0);
std::vector<Observation> obsBuf;
obsBuf.push_back(obs);
map.updateWorld(0, 0, obsBuf, obsBuf);
std::vector<unsigned int> ids;
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
ids.push_back(map.getIndex(i, j));
}
}
}
ASSERT_EQ(ids.size(), (unsigned int)21);
}
/**
* Test inflation for both static and dynamic obstacles
*/
TEST(costmap, testInflation){
Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD);
// Verify that obstacles correctly identified
std::vector<unsigned int> occupiedCells;
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE){
occupiedCells.push_back(map.getIndex(i, j));
}
}
}
// There should be no duplicates
std::set<unsigned int> setOfCells;
for(unsigned int i=0;i<occupiedCells.size(); i++)
setOfCells.insert(i);
ASSERT_EQ(setOfCells.size(), occupiedCells.size());
ASSERT_EQ(setOfCells.size(), (unsigned int)48);
// Iterate over all id's and verify they are obstacles
for(std::vector<unsigned int>::const_iterator it = occupiedCells.begin(); it != occupiedCells.end(); ++it){
unsigned int ind = *it;
unsigned int x, y;
map.indexToCells(ind, x, y);
ASSERT_EQ(find(occupiedCells, map.getIndex(x, y)), true);
ASSERT_EQ(map.getCost(x, y) == costmap_2d::LETHAL_OBSTACLE || map.getCost(x, y) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
}
// Set an obstacle at the origin and observe insertions for it and its neighbors
pcl::PointCloud<pcl::PointXYZ> c0;
c0.points.resize(1);
c0.points[0].x = 0;
c0.points[0].y = 0;
c0.points[0].z = 0.4;
geometry_msgs::Point p;
p.x = 0.0;
p.y = 0.0;
p.z = MAX_Z;
Observation obs(p, c0, 100.0, 100.0);
std::vector<Observation> obsBuf, empty;
obsBuf.push_back(obs);
map.updateWorld(0, 0, obsBuf, empty);
occupiedCells.clear();
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE){
occupiedCells.push_back(map.getIndex(i, j));
}
}
}
// It and its 2 neighbors makes 3 obstacles
ASSERT_EQ(occupiedCells.size(), (unsigned int)51);
// @todo Rewrite
// Add an obstacle at <2,0> which will inflate and refresh to of the other inflated cells
pcl::PointCloud<pcl::PointXYZ> c1;
c1.points.resize(1);
c1.points[0].x = 2;
c1.points[0].y = 0;
c1.points[0].z = 0.0;
geometry_msgs::Point p1;
p1.x = 0.0;
p1.y = 0.0;
p1.z = MAX_Z;
Observation obs1(p1, c1, 100.0, 100.0);
std::vector<Observation> obsBuf1;
obsBuf1.push_back(obs1);
map.updateWorld(0, 0, obsBuf1, empty);
occupiedCells.clear();
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE){
occupiedCells.push_back(map.getIndex(i, j));
}
}
}
// Now we expect insertions for it, and 2 more neighbors, but not all 5. Free space will propagate from
// the origin to the target, clearing the point at <0, 0>, but not over-writing the inflation of the obstacle
// at <0, 1>
ASSERT_EQ(occupiedCells.size(), (unsigned int)54);
// Add an obstacle at <1, 9>. This will inflate obstacles around it
pcl::PointCloud<pcl::PointXYZ> c2;
c2.points.resize(1);
c2.points[0].x = 1;
c2.points[0].y = 9;
c2.points[0].z = 0.0;
geometry_msgs::Point p2;
p2.x = 0.0;
p2.y = 0.0;
p2.z = MAX_Z;
Observation obs2(p2, c2, 100.0, 100.0);
std::vector<Observation> obsBuf2;
obsBuf2.push_back(obs2);
map.updateWorld(0, 0, obsBuf2, empty);
ASSERT_EQ(map.getCost(1, 9), costmap_2d::LETHAL_OBSTACLE);
ASSERT_EQ(map.getCost(0, 9), costmap_2d::INSCRIBED_INFLATED_OBSTACLE);
ASSERT_EQ(map.getCost(2, 9), costmap_2d::INSCRIBED_INFLATED_OBSTACLE);
// Add an obstacle and verify that it over-writes its inflated status
pcl::PointCloud<pcl::PointXYZ> c3;
c3.points.resize(1);
c3.points[0].x = 0;
c3.points[0].y = 9;
c3.points[0].z = 0.0;
geometry_msgs::Point p3;
p3.x = 0.0;
p3.y = 0.0;
p3.z = MAX_Z;
Observation obs3(p3, c3, 100.0, 100.0);
std::vector<Observation> obsBuf3;
obsBuf3.push_back(obs3);
map.updateWorld(0, 0, obsBuf3, empty);
ASSERT_EQ(map.getCost(0, 9), costmap_2d::LETHAL_OBSTACLE);
}
/**
* Test specific inflation scenario to ensure we do not set inflated obstacles to be raw obstacles.
*/
TEST(costmap, testInflation2){
Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD);
// Creat a small L-Shape all at once
pcl::PointCloud<pcl::PointXYZ> c0;
c0.points.resize(3);
c0.points[0].x = 1;
c0.points[0].y = 1;
c0.points[0].z = MAX_Z;
c0.points[1].x = 1;
c0.points[1].y = 2;
c0.points[1].z = MAX_Z;
c0.points[2].x = 2;
c0.points[2].y = 2;
c0.points[2].z = MAX_Z;
geometry_msgs::Point p;
p.x = 0.0;
p.y = 0.0;
p.z = MAX_Z;
Observation obs(p, c0, 100.0, 100.0);
std::vector<Observation> obsBuf;
obsBuf.push_back(obs);
map.updateWorld(0, 0, obsBuf, obsBuf);
ASSERT_EQ(map.getCost(3, 2), costmap_2d::INSCRIBED_INFLATED_OBSTACLE);
ASSERT_EQ(map.getCost(3, 3), costmap_2d::INSCRIBED_INFLATED_OBSTACLE);
}
/**
* Test inflation behavior, starting with an empty map
*/
TEST(costmap, testInflation3){
std::vector<unsigned char> mapData;
for(unsigned int i=0; i< GRID_WIDTH; i++){
for(unsigned int j = 0; j < GRID_HEIGHT; j++){
mapData.push_back(0);
}
}
Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS * 2, ROBOT_RADIUS * 3,
10.0, MAX_Z, 10.0, 1, mapData, THRESHOLD);
// There should be no occupied cells
std::vector<unsigned int> ids;
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE){
ids.push_back(map.getIndex(i, j));
}
}
}
ASSERT_EQ(ids.size(), (unsigned int)0);
// Add an obstacle at 5,5
pcl::PointCloud<pcl::PointXYZ> c0;
c0.points.resize(1);
c0.points[0].x = 5;
c0.points[0].y = 5;
c0.points[0].z = MAX_Z;
geometry_msgs::Point p;
p.x = 0.0;
p.y = 0.0;
p.z = MAX_Z;
Observation obs(p, c0, 100.0, 100.0);
std::vector<Observation> obsBuf;
obsBuf.push_back(obs);
map.updateWorld(0, 0, obsBuf, obsBuf);
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
if(map.getCost(i, j) != costmap_2d::FREE_SPACE){
ids.push_back(map.getIndex(i, j));
}
}
}
ASSERT_EQ(ids.size(), (unsigned int)29);
ids.clear();
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE){
ids.push_back(map.getIndex(i, j));
}
}
}
ASSERT_EQ(ids.size(), (unsigned int)5);
// Update again - should see no change
map.updateWorld(0, 0, obsBuf, obsBuf);
ids.clear();
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
if(map.getCost(i, j) != costmap_2d::FREE_SPACE){
ids.push_back(map.getIndex(i, j));
}
}
}
ASSERT_EQ(ids.size(), (unsigned int)29);
}
/**
* Test for ray tracing free space
*/
TEST(costmap, testRaytracing2){
Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
100.0, MAX_Z, 100.0, 1, MAP_10_BY_10, THRESHOLD);
// The sensor origin will be <0,0>. So if we add an obstacle at 9,9, we would expect cells
// <0, 0> thru <8, 8> to be traced through
pcl::PointCloud<pcl::PointXYZ> c0;
c0.points.resize(1);
c0.points[0].x = 9.5;
c0.points[0].y = 9.5;
c0.points[0].z = MAX_Z;
geometry_msgs::Point p;
p.x = 0.5;
p.y = 0.5;
p.z = MAX_Z;
Observation obs(p, c0, 100.0, 100.0);
std::vector<Observation> obsBuf;
obsBuf.push_back(obs);
std::vector<unsigned int> obstacles;
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
obstacles.push_back(map.getIndex(i, j));
}
}
}
unsigned int obs_before = obstacles.size();
map.updateWorld(0, 0, obsBuf, obsBuf);
obstacles.clear();
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
obstacles.push_back(map.getIndex(i, j));
}
}
}
//Two obstacles shoulb be removed from the map by raytracing
ASSERT_EQ(obstacles.size(), obs_before - 2);
// many cells will have been switched to free space along the diagonal except
// for those inflated in the update.. tests that inflation happens properly
// after raytracing
unsigned char test[10]= {0, 0, 0, 253, 253, 0, 0, 253, 253, 254};
for(unsigned int i=0; i < 10; i++)
ASSERT_EQ(map.getCost(i, i), test[i]);
}
/**
* Within a certian radius of the robot, the cost map most propagate obstacles. This
* is to avoid a case where a hit on a far obstacle clears inscribed radius around a
* near one.
*/
TEST(costmap, testTrickyPropagation){
const unsigned char MAP_HALL_CHAR[10 * 10] = {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
254, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 254, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 254, 0, 0, 0, 0,
0, 0, 0, 0, 0, 254, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
};
std::vector<unsigned char> MAP_HALL;
for (int i = 0; i < 10 * 10; i++) {
MAP_HALL.push_back(MAP_HALL_CHAR[i]);
}
Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS,
100.0, MAX_Z, 100.0, 1, MAP_HALL, THRESHOLD);
//Add a dynamic obstacle
pcl::PointCloud<pcl::PointXYZ> c2;
c2.points.resize(3);
//Dynamic obstacle that raytaces.
c2.points[0].x = 7.0;
c2.points[0].y = 8.0;
c2.points[0].z = 1.0;
//Dynamic obstacle that should not be raytraced the
//first update, but should on the second.
c2.points[1].x = 3.0;
c2.points[1].y = 4.0;
c2.points[1].z = 1.0;
//Dynamic obstacle that should not be erased.
c2.points[2].x = 6.0;
c2.points[2].y = 3.0;
c2.points[2].z = 1.0;
geometry_msgs::Point p2;
p2.x = 0.5;
p2.y = 0.5;
p2.z = MAX_Z;
Observation obs2(p2, c2, 100.0, 100.0);
std::vector<Observation> obsBuf2;
obsBuf2.push_back(obs2);
map.updateWorld(0, 0, obsBuf2, obsBuf2);
const unsigned char MAP_HALL_CHAR_TEST[10 * 10] = {
253, 254, 253, 0, 0, 0, 0, 0, 0, 0,
0, 253, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 253, 0, 0, 0, 0, 0,
0, 0, 0, 253, 254, 253, 0, 0, 0, 0,
0, 0, 0, 0, 253, 0, 0, 253, 0, 0,
0, 0, 0, 253, 0, 0, 253, 254, 253, 0,
0, 0, 253, 254, 253, 0, 0, 253, 253, 0,
0, 0, 0, 253, 0, 0, 0, 253, 254, 253,
0, 0, 0, 0, 0, 0, 0, 0, 253, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
};
for (int i = 0; i < 10 * 10; i++) {
ASSERT_EQ(map.getCost(i / 10, i % 10), MAP_HALL_CHAR_TEST[i]);
}
pcl::PointCloud<pcl::PointXYZ> c;
c.points.resize(1);
//Dynamic obstacle that raytaces the one at (3.0, 4.0).
c.points[0].x = 4.0;
c.points[0].y = 5.0;
c.points[0].z = 1.0;
geometry_msgs::Point p3;
p3.x = 0.5;
p3.y = 0.5;
p3.z = MAX_Z;
Observation obs3(p3, c, 100.0, 100.0);
std::vector<Observation> obsBuf3;
obsBuf3.push_back(obs3);
map.updateWorld(0, 0, obsBuf3, obsBuf3);
const unsigned char MAP_HALL_CHAR_TEST2[10 * 10] = {
253, 254, 253, 0, 0, 0, 0, 0, 0, 0,
0, 253, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 253, 0, 0, 0, 0,
0, 0, 0, 0, 253, 254, 253, 253, 0, 0,
0, 0, 0, 253, 0, 253, 253, 254, 253, 0,
0, 0, 253, 254, 253, 0, 0, 253, 253, 0,
0, 0, 0, 253, 0, 0, 0, 253, 254, 253,
0, 0, 0, 0, 0, 0, 0, 0, 253, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
};
for (int i = 0; i < 10 * 10; i++) {
ASSERT_EQ(map.getCost(i / 10, i % 10), MAP_HALL_CHAR_TEST2[i]);
}
}
int main(int argc, char** argv){
for(unsigned int i = 0; i< GRID_WIDTH * GRID_HEIGHT; i++){
EMPTY_10_BY_10.push_back(0);
MAP_10_BY_10.push_back(MAP_10_BY_10_CHAR[i]);
}
for(unsigned int i = 0; i< 5 * 5; i++){
MAP_5_BY_5.push_back(MAP_10_BY_10_CHAR[i]);
}
for(unsigned int i = 0; i< 100 * 100; i++)
EMPTY_100_BY_100.push_back(0);
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
