CollisionPreventionTest.cpp File Reference

#include <gtest/gtest.h>
#include "CollisionPrevention.hpp"

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Classes
class	CollisionPreventionTest
class	TestCollisionPrevention
class	TestTimingCollisionPrevention

Functions
	TEST_F (CollisionPreventionTest, instantiation)
	TEST_F (CollisionPreventionTest, behaviorOff)
	TEST_F (CollisionPreventionTest, noSensorData)
	TEST_F (CollisionPreventionTest, testBehaviorOnWithObstacleMessage)
	TEST_F (CollisionPreventionTest, testBehaviorOnWithDistanceMessage)
	TEST_F (CollisionPreventionTest, testPurgeOldData)
	TEST_F (CollisionPreventionTest, testNoRangeData)
	TEST_F (CollisionPreventionTest, noBias)
	TEST_F (CollisionPreventionTest, outsideFOV)
	TEST_F (CollisionPreventionTest, goNoData)
	TEST_F (CollisionPreventionTest, jerkLimit)
	TEST_F (CollisionPreventionTest, addDistanceSensorData)
	TEST_F (CollisionPreventionTest, addObstacleSensorData_attitude)
	TEST_F (CollisionPreventionTest, addObstacleSensorData_bodyframe)
	TEST_F (CollisionPreventionTest, addObstacleSensorData_resolution_offset)
	TEST_F (CollisionPreventionTest, adaptSetpointDirection_distinct_minimum)
	TEST_F (CollisionPreventionTest, adaptSetpointDirection_flat_minimum)
	TEST_F (CollisionPreventionTest, overlappingSensors)
	TEST_F (CollisionPreventionTest, enterData)

Variables
hrt_abstime	mocked_time = 0

Function Documentation

TEST_F() [1/19]

TEST_F	(	CollisionPreventionTest	,
		instantiation
	)

Definition at line 90 of file CollisionPreventionTest.cpp.

TEST_F() [2/19]

TEST_F	(	CollisionPreventionTest	,
		behaviorOff
	)

Definition at line 92 of file CollisionPreventionTest.cpp.

References CollisionPrevention::is_active().

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TEST_F() [3/19]

TEST_F	(	CollisionPreventionTest	,
		noSensorData
	)

Definition at line 101 of file CollisionPreventionTest.cpp.

References f(), CollisionPrevention::is_active(), CollisionPrevention::modifySetpoint(), matrix::Vector< Type, M >::norm(), param_set(), and TestCollisionPrevention::paramsChanged().

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TEST_F() [4/19]

TEST_F	(	CollisionPreventionTest	,
		testBehaviorOnWithObstacleMessage
	)

Definition at line 126 of file CollisionPreventionTest.cpp.

References obstacle_distance_s::angle_offset, attitude, obstacle_distance_s::distances, f(), obstacle_distance_s::frame, TestCollisionPrevention::getObstacleMap(), hrt_absolute_time(), obstacle_distance_s::increment, obstacle_distance_s::max_distance, obstacle_distance_s::min_distance, CollisionPrevention::modifySetpoint(), matrix::Vector< Type, M >::norm(), orb_advert_t, orb_advertise(), ORB_ID, orb_publish(), orb_unadvertise(), param_set(), TestCollisionPrevention::paramsChanged(), vehicle_attitude_s::q, vehicle_attitude_s::timestamp, and obstacle_distance_s::timestamp.

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TEST_F() [5/19]

TEST_F	(	CollisionPreventionTest	,
		testBehaviorOnWithDistanceMessage
	)

Definition at line 191 of file CollisionPreventionTest.cpp.

References attitude, distance_sensor_s::current_distance, f(), TestCollisionPrevention::getObstacleMap(), distance_sensor_s::h_fov, hrt_absolute_time(), obstacle_distance_s::max_distance, distance_sensor_s::max_distance, obstacle_distance_s::min_distance, distance_sensor_s::min_distance, CollisionPrevention::modifySetpoint(), matrix::Vector< Type, M >::norm(), orb_advert_t, orb_advertise(), ORB_ID, orb_publish(), orb_unadvertise(), distance_sensor_s::orientation, param_set(), TestCollisionPrevention::paramsChanged(), vehicle_attitude_s::q, math::radians(), distance_sensor_s::signal_quality, vehicle_attitude_s::timestamp, distance_sensor_s::timestamp, distance_sensor_s::type, distance_sensor_s::v_fov, and distance_sensor_s::variance.

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TEST_F() [6/19]

TEST_F	(	CollisionPreventionTest	,
		testPurgeOldData
	)

Definition at line 251 of file CollisionPreventionTest.cpp.

References obstacle_distance_s::angle_offset, attitude, obstacle_distance_s::distances, f(), obstacle_distance_s::frame, hrt_absolute_time(), hrt_abstime, obstacle_distance_s::increment, obstacle_distance_s::max_distance, obstacle_distance_s::min_distance, mocked_time, CollisionPrevention::modifySetpoint(), matrix::Vector< Type, M >::norm(), orb_advert_t, orb_advertise(), ORB_ID, orb_publish(), orb_unadvertise(), param_set(), TestCollisionPrevention::paramsChanged(), vehicle_attitude_s::q, vehicle_attitude_s::timestamp, and obstacle_distance_s::timestamp.

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TEST_F() [7/19]

TEST_F	(	CollisionPreventionTest	,
		testNoRangeData
	)

Definition at line 328 of file CollisionPreventionTest.cpp.

References obstacle_distance_s::angle_offset, attitude, obstacle_distance_s::distances, f(), obstacle_distance_s::frame, hrt_absolute_time(), hrt_abstime, obstacle_distance_s::increment, obstacle_distance_s::max_distance, obstacle_distance_s::min_distance, mocked_time, CollisionPrevention::modifySetpoint(), matrix::Vector< Type, M >::norm(), orb_advert_t, orb_advertise(), ORB_ID, orb_publish(), orb_unadvertise(), param_set(), TestCollisionPrevention::paramsChanged(), vehicle_attitude_s::q, vehicle_attitude_s::timestamp, and obstacle_distance_s::timestamp.

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TEST_F() [8/19]

TEST_F	(	CollisionPreventionTest	,
		noBias
	)

Definition at line 396 of file CollisionPreventionTest.cpp.

References obstacle_distance_s::distances, obstacle_distance_s::frame, hrt_absolute_time(), obstacle_distance_s::increment, obstacle_distance_s::max_distance, obstacle_distance_s::min_distance, CollisionPrevention::modifySetpoint(), matrix::Vector< Type, M >::normalized(), orb_advert_t, orb_advertise(), ORB_ID, orb_publish(), orb_unadvertise(), param_set(), TestCollisionPrevention::paramsChanged(), and obstacle_distance_s::timestamp.

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TEST_F() [9/19]

TEST_F	(	CollisionPreventionTest	,
		outsideFOV
	)

Definition at line 437 of file CollisionPreventionTest.cpp.

References matrix::atan2(), math::degrees(), obstacle_distance_s::distances, f(), obstacle_distance_s::frame, hrt_absolute_time(), obstacle_distance_s::increment, obstacle_distance_s::max_distance, obstacle_distance_s::min_distance, CollisionPrevention::modifySetpoint(), matrix::Vector< Type, M >::norm(), orb_advert_t, orb_advertise(), ORB_ID, orb_publish(), orb_unadvertise(), param_set(), TestCollisionPrevention::paramsChanged(), math::radians(), obstacle_distance_s::timestamp, and matrix::wrap_2pi().

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TEST_F() [10/19]

TEST_F	(	CollisionPreventionTest	,
		goNoData
	)

Definition at line 500 of file CollisionPreventionTest.cpp.

References CollisionPrevention::modifySetpoint(), matrix::Vector< Type, M >::norm(), param_set(), and TestCollisionPrevention::paramsChanged().

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TEST_F() [11/19]

TEST_F	(	CollisionPreventionTest	,
		jerkLimit
	)

Definition at line 533 of file CollisionPreventionTest.cpp.

References obstacle_distance_s::distances, obstacle_distance_s::frame, hrt_absolute_time(), obstacle_distance_s::increment, obstacle_distance_s::max_distance, obstacle_distance_s::min_distance, CollisionPrevention::modifySetpoint(), matrix::Vector< Type, M >::norm(), orb_advert_t, orb_advertise(), ORB_ID, orb_publish(), orb_unadvertise(), param_set(), TestCollisionPrevention::paramsChanged(), and obstacle_distance_s::timestamp.

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TEST_F() [12/19]

TEST_F	(	CollisionPreventionTest	,
		addDistanceSensorData
	)

Definition at line 583 of file CollisionPreventionTest.cpp.

References obstacle_distance_s::distances, f(), TestCollisionPrevention::getObstacleMap(), obstacle_distance_s::increment, distance_sensor_s::min_distance, math::radians(), and TestCollisionPrevention::test_addDistanceSensorData().

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TEST_F() [13/19]

TEST_F	(	CollisionPreventionTest	,
		addObstacleSensorData_attitude
	)

Definition at line 660 of file CollisionPreventionTest.cpp.

References obstacle_distance_s::distances, obstacle_distance_s::frame, TestCollisionPrevention::getObstacleMap(), obstacle_distance_s::increment, M_PI, and TestCollisionPrevention::test_addObstacleSensorData().

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TEST_F() [14/19]

TEST_F	(	CollisionPreventionTest	,
		addObstacleSensorData_bodyframe
	)

Definition at line 761 of file CollisionPreventionTest.cpp.

References obstacle_distance_s::distances, obstacle_distance_s::frame, TestCollisionPrevention::getObstacleMap(), obstacle_distance_s::increment, M_PI, and TestCollisionPrevention::test_addObstacleSensorData().

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TEST_F() [15/19]

TEST_F	(	CollisionPreventionTest	,
		addObstacleSensorData_resolution_offset
	)

Definition at line 862 of file CollisionPreventionTest.cpp.

References obstacle_distance_s::distances, obstacle_distance_s::frame, TestCollisionPrevention::getObstacleMap(), obstacle_distance_s::increment, and TestCollisionPrevention::test_addObstacleSensorData().

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TEST_F() [16/19]

TEST_F	(	CollisionPreventionTest	,
		adaptSetpointDirection_distinct_minimum
	)

Definition at line 919 of file CollisionPreventionTest.cpp.

References obstacle_distance_s::angle_offset, math::degrees(), matrix::floor(), obstacle_distance_s::frame, TestCollisionPrevention::getObstacleMap(), obstacle_distance_s::increment, param_set(), TestCollisionPrevention::paramsChanged(), TestCollisionPrevention::test_adaptSetpointDirection(), TestCollisionPrevention::test_addObstacleSensorData(), and matrix::wrap().

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TEST_F() [17/19]

TEST_F	(	CollisionPreventionTest	,
		adaptSetpointDirection_flat_minimum
	)

Definition at line 966 of file CollisionPreventionTest.cpp.

References obstacle_distance_s::angle_offset, math::degrees(), matrix::floor(), obstacle_distance_s::frame, TestCollisionPrevention::getObstacleMap(), obstacle_distance_s::increment, param_set(), TestCollisionPrevention::paramsChanged(), TestCollisionPrevention::test_adaptSetpointDirection(), TestCollisionPrevention::test_addObstacleSensorData(), and matrix::wrap().

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TEST_F() [18/19]

TEST_F	(	CollisionPreventionTest	,
		overlappingSensors
	)

Definition at line 1015 of file CollisionPreventionTest.cpp.

References obstacle_distance_s::angle_offset, attitude, obstacle_distance_s::distances, obstacle_distance_s::frame, TestCollisionPrevention::getObstacleMap(), hrt_absolute_time(), obstacle_distance_s::increment, obstacle_distance_s::max_distance, obstacle_distance_s::min_distance, CollisionPrevention::modifySetpoint(), orb_advert_t, orb_advertise(), ORB_ID, orb_publish(), orb_unadvertise(), param_set(), TestCollisionPrevention::paramsChanged(), vehicle_attitude_s::q, vehicle_attitude_s::timestamp, and obstacle_distance_s::timestamp.

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TEST_F() [19/19]

TEST_F	(	CollisionPreventionTest	,
		enterData
	)

Definition at line 1106 of file CollisionPreventionTest.cpp.

References obstacle_distance_s::distances, f(), TestCollisionPrevention::getObstacleMap(), obstacle_distance_s::increment, distance_sensor_s::min_distance, math::radians(), TestCollisionPrevention::test_addDistanceSensorData(), and TestCollisionPrevention::test_enterData().

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Variable Documentation

mocked_time

hrt_abstime mocked_time = 0

Definition at line 38 of file CollisionPreventionTest.cpp.

Referenced by TestTimingCollisionPrevention::getElapsedTime(), TestTimingCollisionPrevention::getTime(), and TEST_F().