add humble-navigation2

navigation2/nav2_map_server/test/test_constants.cpp

@@ -0,0 +1,70 @@
+/*
+ * 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: Brian Gerkey */
+
+/* This file contains global constants shared among tests */
+
+/* Note that these must be changed if the test image changes */
+
+#include "test_constants/test_constants.h"
+
+#include <vector>
+
+const unsigned int g_valid_image_width = 10;
+const unsigned int g_valid_image_height = 10;
+// Note that the image content is given in row-major order, with the
+// lower-left pixel first.  This is different from a graphics coordinate
+// system, which starts with the upper-left pixel.  The loadMapFromFile
+// call converts from the latter to the former when it loads the image, and
+// we want to compare against the result of that conversion.
+const char g_valid_image_content[] = {
+  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+  100, 100, 100, 100, 0, 0, 100, 100, 100, 0,
+  100, 100, 100, 100, 0, 0, 100, 100, 100, 0,
+  100, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+  100, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+  100, 0, 0, 0, 0, 0, 100, 100, 0, 0,
+  100, 0, 0, 0, 0, 0, 100, 100, 0, 0,
+  100, 0, 0, 0, 0, 0, 100, 100, 0, 0,
+  100, 0, 0, 0, 0, 0, 100, 100, 0, 0,
+  100, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+};
+
+const char * g_valid_map_name = "testmap";
+const char * g_valid_png_file = "testmap.png";
+const char * g_valid_bmp_file = "testmap.bmp";
+const char * g_valid_pgm_file = "testmap.pgm";
+const char * g_valid_yaml_file = "testmap.yaml";
+const char * g_tmp_dir = "/tmp";
+
+const double g_valid_image_res = 0.1;
+const std::vector<double> g_valid_origin{2.0, 3.0, 1.0};
+const double g_default_free_thresh = 0.196;
+const double g_default_occupied_thresh = 0.65;