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feat(freespace_planning_algorithms): add tests for updated astar algorithm #6623

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8 changes: 6 additions & 2 deletions planning/freespace_planning_algorithms/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -34,8 +34,12 @@ if(BUILD_TESTING)
target_link_libraries(freespace_planning_algorithms-test
freespace_planning_algorithms
)

find_package(ament_cmake_ros REQUIRED)
ament_add_ros_isolated_gtest(freespace_planning_algorithms_no_obs-test
test/src/test_freespace_planning_algorithms_no_obstacles.cpp
)
target_link_libraries(freespace_planning_algorithms_no_obs-test
freespace_planning_algorithms
)
ament_add_gtest(rrtstar_core_informed-test
test/src/test_rrtstar_core_informed.cpp
)
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021 Tier IV, Inc. All rights reserved.
// Copyright 2021 TIER IV, Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
@@ -134,7 +134,6 @@ nav_msgs::msg::OccupancyGrid construct_cost_map(
}
}
}
return costmap_msg;

return costmap_msg;
}
@@ -210,9 +209,12 @@ std::unique_ptr<fpa::AbstractPlanningAlgorithm> configure_astar(bool use_multi)
// configure astar param
const bool only_behind_solutions = false;
const bool use_back = true;
const bool use_curve_weight = true;
const bool use_complete_astar = true;
const double distance_heuristic_weight = 1.0;
const auto astar_param =
fpa::AstarParam{only_behind_solutions, use_back, distance_heuristic_weight};
const auto astar_param = fpa::AstarParam{
only_behind_solutions, use_back, use_curve_weight, use_complete_astar,
distance_heuristic_weight};

auto algo = std::make_unique<fpa::AstarSearch>(planner_common_param, vehicle_shape, astar_param);
return algo;
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