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. More...
void	updateTerrainSlope (double grade)
	Constructor for GlobalBodyPlannerTestFixture Class. More...
void	updateTerrainHeight (double height)
	Constructor for GlobalBodyPlannerTestFixture Class. More...

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