X-lanni
71 lines
3.1 KiB
C++
71 lines
3.1 KiB
C++
/*
|
|
* 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;
|