PathFinding3D25DTest.cpp File Reference

#include "unit-test.h"
#include <cmath>
#include <memory>
#include <vector>
#include <mrpt/maps/CSimplePointsMap.h>
#include "ArtificialIntelligence/Algorithms/PathFinding3D25D.h"
#include "Lidar/CscSlamEngine.h"
#include "Util/conscience_log.h"
#include "Util/conscience_util.h"

Functions
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Flat_Map_Returns_Path, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Mrpt_Reference_Frame_Conversion_Is_Correct, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Blocked_Wall_Uses_Gap, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Small_Step_Is_Traversable, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Big_Step_Is_Not_Traversable, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Unreachable_Full_Wall_Returns_Empty_Path, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Closest_Valid_Position_When_Goal_Blocked, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Slope_Acceptable_Returns_Path, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Slope_Too_Steep_Returns_Empty_Path, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Robot_Footprint_Clearance_Too_Narrow_Blocked, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Robot_Footprint_Clearance_Wide_Enough_Returns_Path, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Low_Ceiling_Below_Robot_Height_Blocked, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Obstacle_Above_Robot_Height_Ignored, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Realtime_Scan_Overrides_Free_SLAM_Map, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Unknown_Cells_Policy_Changes_Result, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Start_Inside_Obstacle_Uses_Nearest_Valid_Cell, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Smoothing_Does_Not_Cross_Wall, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Complex_Avoidance_Maze_Returns_Path, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Performance_40m2_At_5cm, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_Stress_50m2_Dense_Noisy_PointCloud, Fixture)
	BOOST_FIXTURE_TEST_CASE (PathFinding3D25D_Tests_MinPointsPerCell_Filters_Sparse_Noise, Fixture)

Function Documentation

BOOST_FIXTURE_TEST_CASE() [1/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Big_Step_Is_Not_Traversable	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [2/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Blocked_Wall_Uses_Gap	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [3/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Closest_Valid_Position_When_Goal_Blocked	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [4/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Complex_Avoidance_Maze_Returns_Path	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [5/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Flat_Map_Returns_Path	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [6/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Low_Ceiling_Below_Robot_Height_Blocked	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [7/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_MinPointsPerCell_Filters_Sparse_Noise	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [8/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Mrpt_Reference_Frame_Conversion_Is_Correct	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [9/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Obstacle_Above_Robot_Height_Ignored	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [10/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Performance_40m2_At_5cm	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [11/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Realtime_Scan_Overrides_Free_SLAM_Map	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [12/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Robot_Footprint_Clearance_Too_Narrow_Blocked	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [13/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Robot_Footprint_Clearance_Wide_Enough_Returns_Path	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [14/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Slope_Acceptable_Returns_Path	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [15/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Slope_Too_Steep_Returns_Empty_Path	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [16/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Small_Step_Is_Traversable	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [17/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Smoothing_Does_Not_Cross_Wall	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [18/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Start_Inside_Obstacle_Uses_Nearest_Valid_Cell	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [19/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Stress_50m2_Dense_Noisy_PointCloud	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [20/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Unknown_Cells_Policy_Changes_Result	,
		Fixture
	)

BOOST_FIXTURE_TEST_CASE() [21/21]

BOOST_FIXTURE_TEST_CASE	(	PathFinding3D25D_Tests_Unreachable_Full_Wall_Returns_Empty_Path	,
		Fixture
	)