X-lanni
56 lines
1.7 KiB
C++
56 lines
1.7 KiB
C++
// Copyright (c) 2020, Samsung Research America
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License. Reserved.
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#include <math.h>
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#include <memory>
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#include <string>
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#include <vector>
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#include "gtest/gtest.h"
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#include "rclcpp/rclcpp.hpp"
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#include "nav2_costmap_2d/costmap_2d.hpp"
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#include "nav2_costmap_2d/costmap_subscriber.hpp"
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#include "nav2_util/lifecycle_node.hpp"
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#include "nav2_smac_planner/node_basic.hpp"
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#include "nav2_smac_planner/node_2d.hpp"
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#include "nav2_smac_planner/node_hybrid.hpp"
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#include "nav2_smac_planner/node_lattice.hpp"
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#include "nav2_smac_planner/collision_checker.hpp"
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class RclCppFixture
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{
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public:
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RclCppFixture() {rclcpp::init(0, nullptr);}
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~RclCppFixture() {rclcpp::shutdown();}
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};
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RclCppFixture g_rclcppfixture;
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TEST(NodeBasicTest, test_node_basic)
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{
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nav2_smac_planner::NodeBasic<nav2_smac_planner::NodeHybrid> node(50);
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EXPECT_EQ(node.index, 50u);
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EXPECT_EQ(node.graph_node_ptr, nullptr);
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nav2_smac_planner::NodeBasic<nav2_smac_planner::Node2D> node2(100);
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EXPECT_EQ(node2.index, 100u);
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EXPECT_EQ(node2.graph_node_ptr, nullptr);
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nav2_smac_planner::NodeBasic<nav2_smac_planner::NodeLattice> node3(200);
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EXPECT_EQ(node3.index, 200u);
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EXPECT_EQ(node3.graph_node_ptr, nullptr);
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}
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