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<a href="test__area_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &lt;gtest/gtest.h&gt;</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &lt;nav_msgs/OccupancyGrid.h&gt;</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;cpswarm_msgs/GetPoints.h&quot;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;cpswarm_msgs/GetPoint.h&quot;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &quot;cpswarm_msgs/GetDist.h&quot;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;cpswarm_msgs/GetMap.h&quot;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;cpswarm_msgs/OutOfBounds.h&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">using namespace </span>std;</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">using namespace </span>ros;</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="test__area_8cpp.html#a64eeee0b082aa60dd7f7be3088892847">   17</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="test__area_8cpp.html#a64eeee0b082aa60dd7f7be3088892847">print_grid</a> (nav_msgs::OccupancyGrid&amp; grid)</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;{</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=grid.info.height-1; i&gt;=0; --i) {</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j=0; j&lt;grid.info.width; ++j) {</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;            int8_t cell = grid.data[i*grid.info.width + j];</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;            <span class="keywordflow">if</span> (cell == 0) {</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;                <span class="keywordflow">if</span> (i == grid.info.height - 1) {</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;                    <span class="keywordflow">if</span> (j == grid.info.width - 1)</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;                        cerr &lt;&lt; <span class="stringliteral">&quot;‾⌉&quot;</span>;</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;                    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (j == 0)</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;                        cerr &lt;&lt; <span class="stringliteral">&quot;⌈‾&quot;</span>;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;                    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;                        cerr &lt;&lt; <span class="stringliteral">&quot;‾‾&quot;</span>;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;                }</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;                <span class="keywordflow">else</span> <span class="keywordflow">if</span> (i == 0) {</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;                    <span class="keywordflow">if</span> (j == grid.info.width - 1)</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;                        cerr &lt;&lt; <span class="stringliteral">&quot;_⌋&quot;</span>;</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;                    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (j == 0)</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;                        cerr &lt;&lt; <span class="stringliteral">&quot;⌊_&quot;</span>;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;                    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;                        cerr &lt;&lt; <span class="stringliteral">&quot;__&quot;</span>;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;                }</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;                <span class="keywordflow">else</span> <span class="keywordflow">if</span> (j == 0)</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;                    cerr &lt;&lt; <span class="stringliteral">&quot;⎢ &quot;</span>;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;                <span class="keywordflow">else</span> <span class="keywordflow">if</span> (j == grid.info.width - 1)</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;                    cerr &lt;&lt; <span class="stringliteral">&quot; ⎥&quot;</span>;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;                <span class="keywordflow">else</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;                    cerr &lt;&lt; <span class="stringliteral">&quot;  &quot;</span>;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;            }</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (cell == 100)</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;                cerr &lt;&lt; <span class="stringliteral">&quot;██&quot;</span>;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                cerr &lt;&lt; <span class="stringliteral">&quot;  &quot;</span>;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        }</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        cerr &lt;&lt; endl;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    }</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;}</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="test__area_8cpp.html#a11df0849e17902ae4802b59101d65ede">   58</a></span>&#160;<a class="code" href="test__area_8cpp.html#a11df0849e17902ae4802b59101d65ede">TEST</a> (NodeTestMissionArea, testGetArea)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;{</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="comment">// create service client</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    NodeHandle nh;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    ServiceClient client = nh.serviceClient&lt;cpswarm_msgs::GetPoints&gt;(<span class="stringliteral">&quot;area/get_area&quot;</span>);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    ASSERT_TRUE(client.waitForExistence(Duration(5.0))); <span class="comment">// failure, if server does not respond within 5 seconds</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    cpswarm_msgs::GetPoints msg;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="comment">// test response</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    ASSERT_EQ(msg.response.points.size(), 4);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    EXPECT_NEAR(msg.response.points[0].x, -6, 0.01);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    EXPECT_NEAR(msg.response.points[0].y, -6, 0.01);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    EXPECT_NEAR(msg.response.points[0].z, 0, 0.01);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    EXPECT_NEAR(msg.response.points[1].x, -6, 0.01);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    EXPECT_NEAR(msg.response.points[1].y, 6, 0.01);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    EXPECT_NEAR(msg.response.points[1].z, 0, 0.01);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    EXPECT_NEAR(msg.response.points[2].x, 6, 0.01);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    EXPECT_NEAR(msg.response.points[2].y, -4, 0.01);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    EXPECT_NEAR(msg.response.points[2].z, 0, 0.01);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    EXPECT_NEAR(msg.response.points[3].x, 6, 0.01);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    EXPECT_NEAR(msg.response.points[3].y, 4, 0.01);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    EXPECT_NEAR(msg.response.points[3].z, 0, 0.01);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;}</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="test__area_8cpp.html#a7200f593c7c38a305de1abaf037c7c3d">   86</a></span>&#160;<a class="code" href="test__area_8cpp.html#a11df0849e17902ae4802b59101d65ede">TEST</a> (NodeTestMissionArea, testGetCenter)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;{</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="comment">// create service client</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    NodeHandle nh;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    ServiceClient client = nh.serviceClient&lt;cpswarm_msgs::GetPoint&gt;(<span class="stringliteral">&quot;area/get_center&quot;</span>);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    ASSERT_TRUE(client.waitForExistence(Duration(5.0))); <span class="comment">// failure, if server does not respond within 5 seconds</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    cpswarm_msgs::GetPoint msg;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="comment">// test response</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    EXPECT_NEAR(msg.response.point.x, -0.4, 0.01);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    EXPECT_NEAR(msg.response.point.y, 0, 0.01);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    EXPECT_NEAR(msg.response.point.z, 0, 0.01);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;}</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="test__area_8cpp.html#ae0ce5d0b95d464e59ec70045d1d33332">  104</a></span>&#160;<a class="code" href="test__area_8cpp.html#a11df0849e17902ae4802b59101d65ede">TEST</a> (NodeTestMissionArea, testGetDistance)</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;{</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="comment">// create service client</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    NodeHandle nh;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    ServiceClient client = nh.serviceClient&lt;cpswarm_msgs::GetDist&gt;(<span class="stringliteral">&quot;area/get_distance&quot;</span>);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    ASSERT_TRUE(client.waitForExistence(Duration(5.0))); <span class="comment">// failure, if server does not respond within 5 seconds</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    cpswarm_msgs::GetDist msg;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="comment">// test empty point (origin)</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    msg.request.point.x = 0;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    msg.request.point.y = 0;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    EXPECT_NEAR(msg.response.closest_point.x, -6, 0.01);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    EXPECT_NEAR(msg.response.closest_point.y, 2.5, 0.01);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    EXPECT_NEAR(msg.response.closest_point.z, 0, 0.01);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    ASSERT_EQ(msg.response.closest_line.size(), 2);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    EXPECT_NEAR(msg.response.closest_line[0].x, -6, 0.01);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    EXPECT_NEAR(msg.response.closest_line[0].y, 6, 0.01);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    EXPECT_NEAR(msg.response.closest_line[0].z, 0, 0.01);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    EXPECT_NEAR(msg.response.closest_line[1].x, -6, 0.01);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    EXPECT_NEAR(msg.response.closest_line[1].y, -6, 0.01);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    EXPECT_NEAR(msg.response.closest_line[1].z, 0, 0.01);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    EXPECT_NEAR(msg.response.distance, 2.5, 0.01);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="comment">// test point on area boundary edge</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    msg.request.point.x = 6;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    msg.request.point.y = -1;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    EXPECT_NEAR(msg.response.closest_point.x, 6, 0.01);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    EXPECT_NEAR(msg.response.closest_point.y, -1, 0.01);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    EXPECT_NEAR(msg.response.closest_point.z, 0, 0.01);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    ASSERT_EQ(msg.response.closest_line.size(), 2);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    EXPECT_NEAR(msg.response.closest_line[0].x, 6, 0.01);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    EXPECT_NEAR(msg.response.closest_line[0].y, -4, 0.01);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    EXPECT_NEAR(msg.response.closest_line[0].z, 0, 0.01);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    EXPECT_NEAR(msg.response.closest_line[1].x, 6, 0.01);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    EXPECT_NEAR(msg.response.closest_line[1].y, 4, 0.01);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    EXPECT_NEAR(msg.response.closest_line[1].z, 0, 0.01);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    EXPECT_NEAR(msg.response.distance, 0, 0.01);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="comment">// test point on area boundary vertex</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    msg.request.point.x = 6;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    msg.request.point.y = 4;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    EXPECT_NEAR(msg.response.closest_point.x, 6, 0.01);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    EXPECT_NEAR(msg.response.closest_point.y, 4, 0.01);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    EXPECT_NEAR(msg.response.closest_point.z, 0, 0.01);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    ASSERT_EQ(msg.response.closest_line.size(), 2);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    EXPECT_NEAR(msg.response.closest_line[0].x, 6, 0.01);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    EXPECT_NEAR(msg.response.closest_line[0].y, -4, 0.01);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    EXPECT_NEAR(msg.response.closest_line[0].z, 0, 0.01);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    EXPECT_NEAR(msg.response.closest_line[1].x, 6, 0.01);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    EXPECT_NEAR(msg.response.closest_line[1].y, 4, 0.01);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    EXPECT_NEAR(msg.response.closest_line[1].z, 0, 0.01);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    EXPECT_NEAR(msg.response.distance, 0, 0.01);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="comment">// test point outside of area boundary (closest point on boundary edge)</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    msg.request.point.x = 12;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    msg.request.point.y = -2;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    EXPECT_NEAR(msg.response.closest_point.x, 6, 0.01);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    EXPECT_NEAR(msg.response.closest_point.y, -2, 0.01);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    EXPECT_NEAR(msg.response.closest_point.z, 0, 0.01);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    ASSERT_EQ(msg.response.closest_line.size(), 2);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    EXPECT_NEAR(msg.response.closest_line[0].x, 6, 0.01);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    EXPECT_NEAR(msg.response.closest_line[0].y, -4, 0.01);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    EXPECT_NEAR(msg.response.closest_line[0].z, 0, 0.01);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    EXPECT_NEAR(msg.response.closest_line[1].x, 6, 0.01);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    EXPECT_NEAR(msg.response.closest_line[1].y, 4, 0.01);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    EXPECT_NEAR(msg.response.closest_line[1].z, 0, 0.01);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    EXPECT_NEAR(msg.response.distance, 6, 0.01);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="comment">// test point outside of area boundary (closest point on boundary vertex)</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    msg.request.point.x = 12;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    msg.request.point.y = 8;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    EXPECT_NEAR(msg.response.closest_point.x, 6, 0.01);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    EXPECT_NEAR(msg.response.closest_point.y, 4, 0.01);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    EXPECT_NEAR(msg.response.closest_point.z, 0, 0.01);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    ASSERT_EQ(msg.response.closest_line.size(), 2);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    EXPECT_NEAR(msg.response.closest_line[0].x, 6, 0.01);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    EXPECT_NEAR(msg.response.closest_line[0].y, -4, 0.01);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    EXPECT_NEAR(msg.response.closest_line[0].z, 0, 0.01);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    EXPECT_NEAR(msg.response.closest_line[1].x, 6, 0.01);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    EXPECT_NEAR(msg.response.closest_line[1].y, 4, 0.01);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    EXPECT_NEAR(msg.response.closest_line[1].z, 0, 0.01);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    EXPECT_NEAR(msg.response.distance, 7.21, 0.01);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;}</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="test__area_8cpp.html#ab0fd29390ad5a6314b11a918e6a7d819">  196</a></span>&#160;<a class="code" href="test__area_8cpp.html#a11df0849e17902ae4802b59101d65ede">TEST</a> (NodeTestMissionArea, testGetMap)</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;{</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="comment">// create service client</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    NodeHandle nh;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    ServiceClient client = nh.serviceClient&lt;cpswarm_msgs::GetMap&gt;(<span class="stringliteral">&quot;area/get_map&quot;</span>);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    ASSERT_TRUE(client.waitForExistence(Duration(5.0))); <span class="comment">// failure, if server does not respond within 5 seconds</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    cpswarm_msgs::GetMap msg;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="comment">// test resolution higher than parameter server</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    msg.request.rotate = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    msg.request.translate = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    msg.request.resolution = 0.25;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    EXPECT_NEAR(msg.response.map.info.resolution, 0.25, 0.01);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    EXPECT_NEAR(msg.response.map.info.width, 48, 0.01);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    EXPECT_NEAR(msg.response.map.info.height, 48, 0.01);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    EXPECT_NEAR(msg.response.map.info.origin.position.x, -6, 0.01);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    EXPECT_NEAR(msg.response.map.info.origin.position.y, -6, 0.01);</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    EXPECT_NEAR(msg.response.map.info.origin.position.z, 0, 0.01);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    ASSERT_EQ(msg.response.map.data.size(), 2304);</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="comment">// count number of unexpected cells</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="keywordtype">int</span> err = 0;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;48; ++i) {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j=0; j&lt;48; ++j) {</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;            <span class="keywordflow">if</span> (i &lt; 24) {</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                <span class="keywordflow">if</span> ((j+0.5) &lt; 6.0 * (i+0.5)) {</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;                    <span class="keywordflow">if</span> (msg.response.map.data[i*48 + j] != 0)</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;                        ++err;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;                }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;                <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;                    <span class="keywordflow">if</span> (msg.response.map.data[i*48 + j] != 100)</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;                        ++err;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;                }</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;            }</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;            <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;                <span class="keywordflow">if</span> ((j+0.5) &lt;= 6 * (48-(i+0.5))) {</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                    <span class="keywordflow">if</span> (msg.response.map.data[i*48 + j] != 0)</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;                        ++err;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;                }</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;                <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;                    <span class="keywordflow">if</span> (msg.response.map.data[i*48 + j] != 100)</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;                        ++err;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;                }</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;            }</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        }</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    }</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    EXPECT_LE(err, 2/msg.response.map.info.resolution); <span class="comment">// maximum number of unexpected cells</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    EXPECT_NEAR(msg.response.rotation, 0, 0.01);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    EXPECT_NEAR(msg.response.translation.x, 0, 0.01);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    EXPECT_NEAR(msg.response.translation.y, 0, 0.01);</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    EXPECT_NEAR(msg.response.translation.z, 0, 0.01);</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="comment">// test resolution lower than parameter server map</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    msg.request.rotate = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    msg.request.translate = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    msg.request.resolution = 2.5;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    EXPECT_NEAR(msg.response.map.info.resolution, 2.5, 0.01);</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    EXPECT_NEAR(msg.response.map.info.width, 5, 0.01);</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    EXPECT_NEAR(msg.response.map.info.height, 5, 0.01);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    EXPECT_NEAR(msg.response.map.info.origin.position.x, -6, 0.01);</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    EXPECT_NEAR(msg.response.map.info.origin.position.y, -6, 0.01);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    EXPECT_NEAR(msg.response.map.info.origin.position.z, 0, 0.01);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    ASSERT_EQ(msg.response.map.data.size(), 25);</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;5; ++i) {</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j=0; j&lt;5; ++j) {</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;            <span class="keywordflow">if</span> (i == 0 &amp;&amp; j &gt;2 || i == 4 &amp;&amp; j &gt; 1)</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;                EXPECT_EQ(msg.response.map.data[i*5 + j], 100);</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;                EXPECT_EQ(msg.response.map.data[i*5 + j], 0);</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        }</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    }</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    EXPECT_NEAR(msg.response.rotation, 0, 0.01);</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    EXPECT_NEAR(msg.response.translation.x, 0, 0.01);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    EXPECT_NEAR(msg.response.translation.y, 0, 0.01);</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    EXPECT_NEAR(msg.response.translation.z, 0, 0.01);</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    <span class="comment">// test rotation</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    msg.request.rotate = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    msg.request.translate = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    msg.request.resolution = 0.25;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    EXPECT_NEAR(msg.response.map.info.resolution, 0.25, 0.01);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    EXPECT_NEAR(msg.response.map.info.width, 54, 0.01);</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    EXPECT_NEAR(msg.response.map.info.height, 48, 0.01);</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    EXPECT_NEAR(msg.response.map.info.origin.position.x, -6.90, 0.01);</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    EXPECT_NEAR(msg.response.map.info.origin.position.y, -4.93, 0.01);</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    EXPECT_NEAR(msg.response.map.info.origin.position.z, 0, 0.01);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    EXPECT_EQ(msg.response.map.data.size(), 2592);</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    <span class="comment">// dimensions of rotated quadrilateral</span></div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    <span class="keywordtype">double</span> hl = 12.0 / double(msg.request.resolution);</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    <span class="keywordtype">double</span> hr = 8.0 / double(msg.request.resolution);</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <span class="keywordtype">double</span> bot = hl / cos(1.0/6.0);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="keywordtype">double</span> right = hr * cos(1.0/6.0);</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <span class="keywordtype">double</span> left = hl * cos(1.0/6.0) + hl * sin(1.0/6.0) * tan(2.0/6.0) - 0.42543043852201026225; <span class="comment">// 26225 &lt; 263 correction factor found by trial and error</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    <span class="comment">// count number of unexpected cells</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    err = 0;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;48; ++i) {</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j=0; j&lt;54; ++j) {</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;            <span class="keywordflow">if</span> ((i+0.5) &lt; right) {</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                <span class="keywordflow">if</span> ((i+0.5) / 6.0 &lt;= j+0.5 &amp;&amp; j+0.5 &lt;= bot + (i+0.5) / 6.0) {</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;                    <span class="keywordflow">if</span> (msg.response.map.data[i*54 + j] != 0)</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;                        ++err;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;                }</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;                <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;                    <span class="keywordflow">if</span> (msg.response.map.data[i*54 + j] != 100)</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;                        ++err;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;                }</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;            }</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;            <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;                <span class="keywordflow">if</span> ((i+0.5) / 6.0 &lt;= j+0.5 &amp;&amp; j+0.5 &lt;= 3.0 * (left - (i+0.5))) {</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;                    <span class="keywordflow">if</span> (msg.response.map.data[i*54 + j] != 0)</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;                        ++err;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;                }</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;                <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;                    <span class="keywordflow">if</span> (msg.response.map.data[i*54 + j] != 100)</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;                        ++err;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;                }</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;            }</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;        }</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    }</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    EXPECT_LE(err, 2/msg.response.map.info.resolution); <span class="comment">// maximum number of unexpected cells</span></div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    EXPECT_NEAR(msg.response.rotation, -0.165, 0.01);</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    EXPECT_NEAR(msg.response.translation.x, 0, 0.01);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    EXPECT_NEAR(msg.response.translation.y, 0, 0.01);</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    EXPECT_NEAR(msg.response.translation.z, 0, 0.01);</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    <span class="comment">// test rotation and translation</span></div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    msg.request.rotate = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    msg.request.translate = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    msg.request.resolution = 0.25;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    EXPECT_NEAR(msg.response.map.info.resolution, 0.25, 0.01);</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    EXPECT_NEAR(msg.response.map.info.width, 54, 0.01);</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    EXPECT_NEAR(msg.response.map.info.height, 48, 0.01);</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    EXPECT_NEAR(msg.response.map.info.origin.position.x, -7, 0.01);</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    EXPECT_NEAR(msg.response.map.info.origin.position.y, -5, 0.01);</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    EXPECT_NEAR(msg.response.map.info.origin.position.z, 0, 0.01);</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    EXPECT_EQ(msg.response.map.data.size(), 2592);</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    EXPECT_NEAR(msg.response.rotation, -0.165, 0.01);</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    EXPECT_NEAR(msg.response.translation.x, -0.1, 0.01);</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    EXPECT_NEAR(msg.response.translation.y, -0.07, 0.01);</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    EXPECT_NEAR(msg.response.translation.z, 0, 0.01);</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;}</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00344"></a><span class="lineno"><a class="line" href="test__area_8cpp.html#a09e4716d6ece02f1a158d6becc1f97c8">  344</a></span>&#160;<a class="code" href="test__area_8cpp.html#a11df0849e17902ae4802b59101d65ede">TEST</a> (NodeTestMissionArea, testGetOrigin)</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;{</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    <span class="comment">// create service client</span></div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    NodeHandle nh;</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    ServiceClient client = nh.serviceClient&lt;cpswarm_msgs::GetPoint&gt;(<span class="stringliteral">&quot;area/get_origin&quot;</span>);</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    ASSERT_TRUE(client.waitForExistence(Duration(5.0))); <span class="comment">// failure, if server does not respond within 5 seconds</span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    cpswarm_msgs::GetPoint msg;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    <span class="comment">// test response</span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    EXPECT_NEAR(msg.response.point.x, -3.5, 0.01);</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    EXPECT_NEAR(msg.response.point.y, 2.5, 0.01);</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    EXPECT_NEAR(msg.response.point.z, 0, 0.01);</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;}</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
<div class="line"><a name="l00362"></a><span class="lineno"><a class="line" href="test__area_8cpp.html#ab30f6331e9ffaaa588b84462e75f7e08">  362</a></span>&#160;<a class="code" href="test__area_8cpp.html#a11df0849e17902ae4802b59101d65ede">TEST</a> (NodeTestMissionArea, testOutOfBounds)</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;{</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    <span class="comment">// create service client</span></div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    NodeHandle nh;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    ServiceClient client = nh.serviceClient&lt;cpswarm_msgs::OutOfBounds&gt;(<span class="stringliteral">&quot;area/out_of_bounds&quot;</span>);</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    ASSERT_TRUE(client.waitForExistence(Duration(5.0))); <span class="comment">// failure, if server does not respond within 5 seconds</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;    cpswarm_msgs::OutOfBounds msg;</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    <span class="comment">// test points inside</span></div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    msg.request.pose.position.x = 0;</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    msg.request.pose.position.y = 0;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    EXPECT_FALSE(msg.response.out);</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    msg.request.pose.position.x = 5;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;    msg.request.pose.position.y = 3;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    EXPECT_FALSE(msg.response.out);</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;    msg.request.pose.position.x = -4.57;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    msg.request.pose.position.y = -4.1;</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    EXPECT_FALSE(msg.response.out);</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    <span class="comment">// test points on boundary edges</span></div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    msg.request.pose.position.x = 6;</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    msg.request.pose.position.y = 3;</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    EXPECT_FALSE(msg.response.out);</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    msg.request.pose.position.x = 0;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    msg.request.pose.position.y = 5;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    EXPECT_FALSE(msg.response.out);</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    msg.request.pose.position.x = 0;</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    msg.request.pose.position.y = -5;</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    EXPECT_FALSE(msg.response.out);</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    msg.request.pose.position.x = -6;</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;    msg.request.pose.position.y = -4.1;</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;    EXPECT_FALSE(msg.response.out);</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160; </div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    <span class="comment">// test points on boundary vertices</span></div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    msg.request.pose.position.x = -6;</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    msg.request.pose.position.y = -6;</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    EXPECT_FALSE(msg.response.out);</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    msg.request.pose.position.x = 6;</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    msg.request.pose.position.y = -4;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    EXPECT_FALSE(msg.response.out);</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    msg.request.pose.position.x = 6;</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;    msg.request.pose.position.y = 4;</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    EXPECT_FALSE(msg.response.out);</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    msg.request.pose.position.x = -6;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    msg.request.pose.position.y = 6;</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;    EXPECT_FALSE(msg.response.out);</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160; </div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;    <span class="comment">// test points outside</span></div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;    msg.request.pose.position.x = 6.1;</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;    msg.request.pose.position.y = 3;</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    EXPECT_TRUE(msg.response.out);</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;    msg.request.pose.position.x = -7;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;    msg.request.pose.position.y = 5;</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    EXPECT_TRUE(msg.response.out);</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    msg.request.pose.position.x = -7;</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    msg.request.pose.position.y = -8;</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    ASSERT_TRUE(client.call(msg));</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    EXPECT_TRUE(msg.response.out);</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;}</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160; </div>
<div class="line"><a name="l00438"></a><span class="lineno"><a class="line" href="test__area_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">  438</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="test__area_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a>(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv){</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    testing::InitGoogleTest(&amp;argc, argv);</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    init(argc, argv, <span class="stringliteral">&quot;test_area&quot;</span>);</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;    <span class="keywordflow">return</span> RUN_ALL_TESTS();</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;}</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="atest__area_8cpp_html_a3c04138a5bfe5d72780bb7e82a18e627"><div class="ttname"><a href="test__area_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a></div><div class="ttdeci">int main(int argc, char **argv)</div><div class="ttdoc">Main function that runs all tests that were declared with TEST().</div><div class="ttdef"><b>Definition:</b> <a href="test__area_8cpp_source.html#l00438">test_area.cpp:438</a></div></div>
<div class="ttc" id="atest__area_8cpp_html_a11df0849e17902ae4802b59101d65ede"><div class="ttname"><a href="test__area_8cpp.html#a11df0849e17902ae4802b59101d65ede">TEST</a></div><div class="ttdeci">TEST(NodeTestMissionArea, testGetArea)</div><div class="ttdoc">Test the mission area get area service.</div><div class="ttdef"><b>Definition:</b> <a href="test__area_8cpp_source.html#l00058">test_area.cpp:58</a></div></div>
<div class="ttc" id="atest__area_8cpp_html_a64eeee0b082aa60dd7f7be3088892847"><div class="ttname"><a href="test__area_8cpp.html#a64eeee0b082aa60dd7f7be3088892847">print_grid</a></div><div class="ttdeci">void print_grid(nav_msgs::OccupancyGrid &amp;grid)</div><div class="ttdoc">Output grid data to the console for visualization/testing purpose.</div><div class="ttdef"><b>Definition:</b> <a href="test__area_8cpp_source.html#l00017">test_area.cpp:17</a></div></div>

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<a href="http://wiki.ros.org/area_provider">area_provider</a><br />
Author(s): Micha Sende <sende@lakeside-labs.com></br />
<small>autogenerated on Mon Jan 10 2022 15:13:45</small>
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