add humble-navigation2

navigation2/nav2_mppi_controller/test/utils/models.hpp

@@ -0,0 +1,75 @@
+// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+#include <vector>
+#include <utility>
+#include <string>
+#include <rclcpp/rclcpp.hpp>
+
+struct TestOptimizerSettings
+{
+  int batch_size;
+  int time_steps;
+  int iteration_count;
+  double lookahead_distance;
+  std::string motion_model;
+  bool consider_footprint;
+};
+
+struct TestPose
+{
+  double x;
+  double y;
+};
+
+struct TestCostmapSettings
+{
+  const unsigned int cells_x = 40;
+  const unsigned int cells_y = 40;
+  const double origin_x = 0.0;
+  const double origin_y = 0.0;
+  const double resolution = 0.1;
+  const unsigned char cost_map_default_value = 0;
+  const double footprint_size = 0.15;
+
+  std::pair<unsigned int, unsigned int> getCenterIJ()
+  {
+    return {
+      cells_x / 2,
+      cells_y / 2};
+  }
+
+  TestPose getCenterPose()
+  {
+    return {
+      static_cast<double>(cells_x) * resolution / 2.0,
+      static_cast<double>(cells_y) * resolution / 2.0};
+  }
+};
+struct TestObstaclesSettings
+{
+  unsigned int center_cells_x;
+  unsigned int center_cells_y;
+  unsigned int obstacle_size;
+  unsigned char obstacle_cost;
+};
+
+struct TestPathSettings
+{
+  TestPose start_pose;
+  unsigned int poses_count;
+  double step_x;
+  double step_y;
+};