add humble-navigation2

2025-05-27 19:03:40 +08:00
parent 974abb5e1e
commit e74ec539c2
1280 changed files with 204114 additions and 0 deletions
@@ -0,0 +1,117 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2017, Locus Robotics
+ *  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 copyright holder 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 HOLDER 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.
+ */
+
+#include <string>
+#include "gtest/gtest.h"
+#include "costmap_queue/map_based_queue.hpp"
+
+using costmap_queue::MapBasedQueue;
+
+void letter_test(MapBasedQueue<char> & q, const char test_letter)
+{
+  ASSERT_FALSE(q.isEmpty());
+  char c = q.front();
+  EXPECT_EQ(c, test_letter);
+  q.pop();
+}
+
+TEST(MapBasedQueue, emptyQueue)
+{
+  MapBasedQueue<char> q;
+  EXPECT_TRUE(q.isEmpty());
+  q.enqueue(1.0, 'A');
+  EXPECT_FALSE(q.isEmpty());
+}
+
+TEST(MapBasedQueue, checkOrdering)
+{
+  MapBasedQueue<char> q;
+  q.enqueue(1.0, 'A');
+  q.enqueue(3.0, 'B');
+  q.enqueue(2.0, 'C');
+  q.enqueue(5.0, 'D');
+  q.enqueue(0.0, 'E');
+
+  std::string expected = "EACBD";
+  for (unsigned int i = 0; i < expected.size(); i++) {
+    letter_test(q, expected[i]);
+  }
+  EXPECT_TRUE(q.isEmpty());
+}
+
+TEST(MapBasedQueue, checkDynamicOrdering)
+{
+  MapBasedQueue<char> q;
+  q.enqueue(1.0, 'A');
+  q.enqueue(3.0, 'B');
+  q.enqueue(2.0, 'C');
+  q.enqueue(5.0, 'D');
+
+  std::string expected = "ACB";
+  for (unsigned int i = 0; i < expected.size(); i++) {
+    letter_test(q, expected[i]);
+  }
+
+  q.enqueue(0.0, 'E');
+  letter_test(q, 'E');
+}
+
+TEST(MapBasedQueue, checkDynamicOrdering2)
+{
+  MapBasedQueue<char> q;
+  q.enqueue(1.0, 'A');
+  q.enqueue(2.0, 'B');
+  letter_test(q, 'A');
+  q.enqueue(3.0, 'C');
+  letter_test(q, 'B');
+}
+
+TEST(MapBasedQueue, checkDynamicOrdering3)
+{
+  MapBasedQueue<char> q;
+  q.enqueue(1.0, 'A');
+  q.enqueue(2.0, 'B');
+  q.enqueue(5.0, 'D');
+  letter_test(q, 'A');
+  letter_test(q, 'B');
+  q.enqueue(1.0, 'C');
+  letter_test(q, 'C');
+  letter_test(q, 'D');
+}
+
+int main(int argc, char ** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
@@ -0,0 +1,142 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2017, Locus Robotics
+ *  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 copyright holder 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 HOLDER 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.
+ */
+
+#include <cmath>
+#include <memory>
+#include <algorithm>
+#include "gtest/gtest.h"
+#include "costmap_queue/costmap_queue.hpp"
+#include "costmap_queue/limited_costmap_queue.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+using std::hypot;
+
+nav2_costmap_2d::Costmap2D costmap(5, 5, 1.0, 0.0, 0.0);
+
+TEST(CostmapQueue, basicQueue)
+{
+  costmap_queue::CostmapQueue q(costmap);
+  int count = 0;
+  q.enqueueCell(0, 0);
+  while (!q.isEmpty()) {
+    costmap_queue::CellData cell = q.getNextCell();
+    EXPECT_EQ(cell.distance_, hypot(cell.x_, cell.y_));
+    count++;
+  }
+  EXPECT_EQ(count, 25);
+}
+
+TEST(CostmapQueue, bigTest)
+{
+  nav2_costmap_2d::Costmap2D big_map(500, 500, 1.0, 0.0, 0.0);
+  costmap_queue::CostmapQueue q(big_map);
+  int count = 0;
+  q.enqueueCell(0, 0);
+  while (!q.isEmpty()) {
+    costmap_queue::CellData cell = q.getNextCell();
+    EXPECT_EQ(cell.distance_, hypot(cell.x_, cell.y_));
+    count++;
+  }
+  EXPECT_EQ(count, 500 * 500);
+}
+
+TEST(CostmapQueue, linearQueue)
+{
+  costmap_queue::CostmapQueue q(costmap);
+  int count = 0;
+  q.enqueueCell(0, 0);
+  q.enqueueCell(0, 1);
+  q.enqueueCell(0, 2);
+  q.enqueueCell(0, 3);
+  q.enqueueCell(0, 4);
+  while (!q.isEmpty()) {
+    costmap_queue::CellData cell = q.getNextCell();
+    EXPECT_EQ(cell.distance_, cell.x_);
+    count++;
+  }
+  EXPECT_EQ(count, 25);
+}
+
+TEST(CostmapQueue, crossQueue)
+{
+  costmap_queue::CostmapQueue q(costmap);
+  int count = 0;
+  int xs[] = {1, 2, 2, 3};
+  int ys[] = {2, 1, 3, 2};
+  int N = 4;
+  for (int i = 0; i < N; i++) {
+    q.enqueueCell(xs[i], ys[i]);
+  }
+
+  while (!q.isEmpty()) {
+    costmap_queue::CellData cell = q.getNextCell();
+    double min_d = 1000;
+
+    for (int i = 0; i < N; i++) {
+      double dd = hypot(xs[i] - static_cast<float>(cell.x_), ys[i] - static_cast<float>(cell.y_));
+      min_d = std::min(min_d, dd);
+    }
+    EXPECT_NEAR(cell.distance_, min_d, 0.00001);
+    count++;
+  }
+  EXPECT_EQ(count, 25);
+}
+
+TEST(CostmapQueue, limitedQueue)
+{
+  costmap_queue::LimitedCostmapQueue q(costmap, 5);
+  int count = 0;
+  q.enqueueCell(0, 0);
+  while (!q.isEmpty()) {
+    costmap_queue::CellData cell = q.getNextCell();
+    EXPECT_EQ(cell.distance_, hypot(cell.x_, cell.y_));
+    count++;
+  }
+  EXPECT_EQ(count, 24);
+
+  costmap_queue::LimitedCostmapQueue q2(costmap, 3);
+  count = 0;
+  q2.enqueueCell(0, 0);
+  while (!q2.isEmpty()) {
+    q2.getNextCell();
+    count++;
+  }
+  EXPECT_EQ(count, 11);
+}
+
+int main(int argc, char ** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}