GlobalBodyPlannerTestFixture Class Reference

A test fixture for the global body planning class. More...

#include <global_body_planner_test_fixture.h>

Inheritance diagram for GlobalBodyPlannerTestFixture:

Collaboration diagram for GlobalBodyPlannerTestFixture:

Public Member Functions
	GlobalBodyPlannerTestFixture ()
	Constructor for GlobalBodyPlannerTestFixture Class.
void	updateTerrainSlope (double grade)
	Constructor for GlobalBodyPlannerTestFixture Class.
void	updateTerrainHeight (double height)
	Constructor for GlobalBodyPlannerTestFixture Class.

Public Attributes
std::shared_ptr< PlannerClass >	planner_
	Planner class.
PlannerConfig	planner_config_
	Planner configuration.
grid_map::GridMap	terrain_grid_map_
	Flat terrain map.
FastTerrainMap	terrain_
	Sloped terrain map.

Detailed Description

A test fixture for the global body planning class.

GlobalBodyPlannerTest is a container for all of the logic utilized in the global body planning node. This algorithm requires an height map of the terrain as a GridMap message type, and will publish the global body plan as a BodyPlan message over a topic. It will also publish the discrete states used by the planner (from which the full path is interpolated).

Constructor & Destructor Documentation

GlobalBodyPlannerTestFixture()

GlobalBodyPlannerTestFixture::GlobalBodyPlannerTestFixture ( )

inline

Constructor for GlobalBodyPlannerTestFixture Class.

Returns

Constructed object of type GlobalBodyPlannerTestFixture

Member Function Documentation

updateTerrainHeight()

void GlobalBodyPlannerTestFixture::updateTerrainHeight ( double  height )

inline

Constructor for GlobalBodyPlannerTestFixture Class.

Parameters

[in]

grade

Grade of the new terrain in x direction (rise/run)

updateTerrainSlope()

void GlobalBodyPlannerTestFixture::updateTerrainSlope ( double  grade )

inline

Constructor for GlobalBodyPlannerTestFixture Class.

Parameters

[in]

grade

Grade of the new terrain in x direction (rise/run)

---

The documentation for this class was generated from the following file:

• global_body_planner/include/global_body_planner/global_body_planner_test_fixture.h