117 lines
3.6 KiB
C++
117 lines
3.6 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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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.
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*
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*/
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#include <functional>
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#include <gtest/gtest.h>
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#include <ignition/math/Angle.hh>
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#include "gazebo/test/ServerFixture.hh"
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using namespace gazebo;
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class GPURaySensor_TEST : public ServerFixture
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{
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};
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void OnNewLaserFrame(int *_scanCounter, float *_scanDest,
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const float *_scan,
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unsigned int _width, unsigned int _height,
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unsigned int _depth,
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const std::string &/*_format*/)
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{
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memcpy(_scanDest, _scan, _width * _height * _depth);
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*_scanCounter += 1;
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}
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/////////////////////////////////////////////////
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/// \brief Test Creation of a Ray sensor
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TEST_F(GPURaySensor_TEST, CreateLaser)
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{
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Load("worlds/gpu_laser2.world");
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sensors::SensorManager *mgr = sensors::SensorManager::Instance();
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// Create the Ray sensor
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std::string sensorName = "default::model_1::link_1::laser_sensor";
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// Get a pointer to the Ray sensor
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sensors::GpuRaySensorPtr sensor =
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std::dynamic_pointer_cast<sensors::GpuRaySensor>
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(mgr->GetSensor(sensorName));
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// Make sure the above dynamic cast worked.
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EXPECT_TRUE(sensor != NULL);
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double angleRes = (sensor->AngleMax() - sensor->AngleMin()).Radian() /
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sensor->RayCount();
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EXPECT_EQ(sensor->AngleMin(), ignition::math::Angle(-1.396263));
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EXPECT_EQ(sensor->AngleMax(), ignition::math::Angle(1.396263));
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EXPECT_NEAR(sensor->RangeMin(), 0.08, 1e-6);
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EXPECT_NEAR(sensor->RangeMax(), 10.0, 1e-6);
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EXPECT_NEAR(sensor->AngleResolution(), angleRes, 1e-3);
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EXPECT_NEAR(sensor->RangeResolution(), 0.01, 1e-3);
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EXPECT_EQ(sensor->RayCount(), 640);
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EXPECT_EQ(sensor->RangeCount(), 640);
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EXPECT_EQ(sensor->VerticalRayCount(), 1);
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EXPECT_EQ(sensor->VerticalRangeCount(), 1);
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EXPECT_EQ(sensor->VerticalAngleMin(), 0.0);
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EXPECT_EQ(sensor->VerticalAngleMax(), 0.0);
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EXPECT_TRUE(sensor->IsActive());
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EXPECT_TRUE(sensor->IsHorizontal());
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// listen to new laser frames
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float *scan = new float[sensor->RayCount()
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* sensor->VerticalRayCount() * 3];
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int scanCount = 0;
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event::ConnectionPtr c =
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sensor->ConnectNewLaserFrame(
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std::bind(&::OnNewLaserFrame, &scanCount, scan,
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std::placeholders::_1, std::placeholders::_2,
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std::placeholders::_3, std::placeholders::_4,
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std::placeholders::_5));
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// wait for a few laser scans
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int i = 0;
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while (scanCount < 10 && i < 300)
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{
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common::Time::MSleep(10);
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i++;
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}
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EXPECT_LT(i, 300);
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// Get all the range values
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std::vector<double> ranges;
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sensor->Ranges(ranges);
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EXPECT_EQ(ranges.size(), static_cast<size_t>(640));
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// Check that all the range values
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for (unsigned int i = 0; i < ranges.size(); ++i)
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{
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EXPECT_DOUBLE_EQ(ranges[i], GZ_DBL_INF);
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EXPECT_DOUBLE_EQ(sensor->Range(i), ranges[i]);
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EXPECT_NEAR(sensor->Retro(i), 0, 1e-6);
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EXPECT_EQ(sensor->Fiducial(i), -1);
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}
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delete [] scan;
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}
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/////////////////////////////////////////////////
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int main(int argc, char **argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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