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test(lane_departure_checker): add tests for calcTrajectoryDeviation()…
…, calcMaxSearchLengthForBoundaries() (#9029) * move calcTrajectoryDeviation() to separate files Signed-off-by: mitukou1109 <[email protected]> * move calcMaxSearchLengthForBoundaries() to separate files Signed-off-by: mitukou1109 <[email protected]> * add tests for calcTrajectoryDeviation() Signed-off-by: mitukou1109 <[email protected]> * add tests for calcMaxSearchLengthForBoundaries() Signed-off-by: mitukou1109 <[email protected]> --------- Signed-off-by: mitukou1109 <[email protected]> Co-authored-by: Kyoichi Sugahara <[email protected]>
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105 changes: 105 additions & 0 deletions
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control/autoware_lane_departure_checker/test/test_calc_max_search_length_for_boundaries.cpp
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| // Copyright 2024 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include "autoware/lane_departure_checker/utils.hpp" | ||
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| #include <Eigen/Core> | ||
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| #include <gtest/gtest.h> | ||
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| using autoware_planning_msgs::msg::Trajectory; | ||
| using autoware_planning_msgs::msg::TrajectoryPoint; | ||
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| namespace | ||
| { | ||
| Trajectory create_trajectory(const std::vector<Eigen::Vector2d> & points) | ||
| { | ||
| Trajectory trajectory; | ||
| for (const auto & point : points) { | ||
| TrajectoryPoint p; | ||
| p.pose.position.x = point.x(); | ||
| p.pose.position.y = point.y(); | ||
| trajectory.points.push_back(p); | ||
| } | ||
| return trajectory; | ||
| } | ||
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| // reference: | ||
| // https://github.com/autowarefoundation/sample_vehicle_launch/blob/main/sample_vehicle_description/config/vehicle_info.param.yaml | ||
| constexpr double wheel_radius_m = 0.383; | ||
| constexpr double wheel_width_m = 0.235; | ||
| constexpr double wheel_base_m = 2.79; | ||
| constexpr double wheel_tread_m = 1.64; | ||
| constexpr double front_overhang_m = 1.0; | ||
| constexpr double rear_overhang_m = 1.1; | ||
| constexpr double left_overhang_m = 0.128; | ||
| constexpr double right_overhang_m = 0.128; | ||
| constexpr double vehicle_height_m = 2.5; | ||
| constexpr double max_steer_angle_rad = 0.70; | ||
| } // namespace | ||
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| struct CalcMaxSearchLengthForBoundariesParam | ||
| { | ||
| std::string description; | ||
| std::vector<Eigen::Vector2d> trajectory_points; | ||
| double expected_max_search_length; | ||
| }; | ||
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| std::ostream & operator<<(std::ostream & os, const CalcMaxSearchLengthForBoundariesParam & p) | ||
| { | ||
| return os << p.description; | ||
| } | ||
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| class CalcMaxSearchLengthForBoundariesTest | ||
| : public ::testing::TestWithParam<CalcMaxSearchLengthForBoundariesParam> | ||
| { | ||
| protected: | ||
| void SetUp() override | ||
| { | ||
| vehicle_info = autoware::vehicle_info_utils::createVehicleInfo( | ||
| wheel_radius_m, wheel_width_m, wheel_base_m, wheel_tread_m, front_overhang_m, rear_overhang_m, | ||
| left_overhang_m, right_overhang_m, vehicle_height_m, max_steer_angle_rad); | ||
| } | ||
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| autoware::vehicle_info_utils::VehicleInfo vehicle_info; | ||
| }; | ||
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| TEST_P(CalcMaxSearchLengthForBoundariesTest, test_calc_max_search_length_for_boundaries) | ||
| { | ||
| const auto p = GetParam(); | ||
| const auto trajectory = create_trajectory(p.trajectory_points); | ||
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| const auto max_search_length = | ||
| autoware::lane_departure_checker::utils::calcMaxSearchLengthForBoundaries( | ||
| trajectory, vehicle_info); | ||
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| EXPECT_DOUBLE_EQ(max_search_length, p.expected_max_search_length); | ||
| } | ||
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| INSTANTIATE_TEST_SUITE_P( | ||
| LaneDepartureCheckerTest, CalcMaxSearchLengthForBoundariesTest, | ||
| ::testing::Values( | ||
| CalcMaxSearchLengthForBoundariesParam{ | ||
| "EmptyTrajectory", | ||
| {}, | ||
| std::hypot(front_overhang_m + wheel_base_m, wheel_tread_m / 2.0 + left_overhang_m)}, | ||
| CalcMaxSearchLengthForBoundariesParam{ | ||
| "SinglePointTrajectory", | ||
| {{0.0, 0.0}}, | ||
| std::hypot(front_overhang_m + wheel_base_m, wheel_tread_m / 2.0 + left_overhang_m)}, | ||
| CalcMaxSearchLengthForBoundariesParam{ | ||
| "MultiPointTrajectory", | ||
| {{0.0, 0.0}, {1.0, 0.0}}, | ||
| 1.0 + std::hypot(front_overhang_m + wheel_base_m, wheel_tread_m / 2.0 + left_overhang_m)}), | ||
| ::testing::PrintToStringParamName()); |
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control/autoware_lane_departure_checker/test/test_calc_trajectory_deviation.cpp
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| // Copyright 2024 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include "autoware/lane_departure_checker/utils.hpp" | ||
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| #include <Eigen/Core> | ||
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| #include <gtest/gtest.h> | ||
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| using autoware::universe_utils::PoseDeviation; | ||
| using autoware_planning_msgs::msg::Trajectory; | ||
| using autoware_planning_msgs::msg::TrajectoryPoint; | ||
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| namespace | ||
| { | ||
| Trajectory create_trajectory(const std::vector<Eigen::Vector2d> & points) | ||
| { | ||
| Trajectory trajectory; | ||
| for (const auto & point : points) { | ||
| TrajectoryPoint p; | ||
| p.pose.position.x = point.x(); | ||
| p.pose.position.y = point.y(); | ||
| trajectory.points.push_back(p); | ||
| } | ||
| return trajectory; | ||
| } | ||
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| geometry_msgs::msg::Pose create_pose(const Eigen::Vector3d & x_y_yaw) | ||
| { | ||
| geometry_msgs::msg::Pose pose; | ||
| pose.position.x = x_y_yaw[0]; | ||
| pose.position.y = x_y_yaw[1]; | ||
| pose.orientation.z = std::sin(x_y_yaw[2] / 2); | ||
| pose.orientation.w = std::cos(x_y_yaw[2] / 2); | ||
| return pose; | ||
| } | ||
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| constexpr double ego_nearest_dist_threshold = 3.0; | ||
| constexpr double ego_nearest_yaw_threshold = 1.046; | ||
| } // namespace | ||
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| struct CalcTrajectoryDeviationTestParam | ||
| { | ||
| std::string description; | ||
| std::vector<Eigen::Vector2d> trajectory_points; | ||
| Eigen::Vector3d x_y_yaw; | ||
| bool exception_expected; | ||
| PoseDeviation expected_deviation; | ||
| }; | ||
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| std::ostream & operator<<(std::ostream & os, const CalcTrajectoryDeviationTestParam & p) | ||
| { | ||
| return os << p.description; | ||
| } | ||
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| class CalcTrajectoryDeviationTest | ||
| : public ::testing::TestWithParam<CalcTrajectoryDeviationTestParam> | ||
| { | ||
| }; | ||
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| TEST_P(CalcTrajectoryDeviationTest, test_calc_trajectory_deviation) | ||
| { | ||
| const auto p = GetParam(); | ||
| const auto trajectory = create_trajectory(p.trajectory_points); | ||
| const auto pose = create_pose(p.x_y_yaw); | ||
| if (p.exception_expected) { | ||
| EXPECT_ANY_THROW({ | ||
| autoware::lane_departure_checker::utils::calcTrajectoryDeviation( | ||
| trajectory, pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold); | ||
| }); | ||
| } else { | ||
| const auto deviation = autoware::lane_departure_checker::utils::calcTrajectoryDeviation( | ||
| trajectory, pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold); | ||
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| EXPECT_DOUBLE_EQ(deviation.lateral, p.expected_deviation.lateral); | ||
| EXPECT_DOUBLE_EQ(deviation.longitudinal, p.expected_deviation.longitudinal); | ||
| EXPECT_DOUBLE_EQ(deviation.yaw, p.expected_deviation.yaw); | ||
| } | ||
| } | ||
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| INSTANTIATE_TEST_SUITE_P( | ||
| LaneDepartureCheckerTest, CalcTrajectoryDeviationTest, | ||
| ::testing::Values( | ||
| CalcTrajectoryDeviationTestParam{"EmptyTrajectory", {}, {}, true, {}}, | ||
| CalcTrajectoryDeviationTestParam{ | ||
| "SinglePointTrajectory", {{0.0, 0.0}}, {0.0, 0.0, 0.0}, false, {0.0, 0.0, 0.0}}), | ||
| ::testing::PrintToStringParamName()); |