perception_handlers_tests.cpp File Reference

The perception handlers other than points (IMU, GNSS, odometry, detections, image): they reject wrong types, store each message in NavState, trigger once per message, and their perceptions copy, print and report their latest stamp. More...

#include <chrono>
#include <cmath>
#include <memory>
#include <stdexcept>
#include <string>
#include <vector>
#include "gtest/gtest.h"
#include "nav_msgs/msg/odometry.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "sensor_msgs/msg/image.hpp"
#include "sensor_msgs/msg/imu.hpp"
#include "sensor_msgs/msg/nav_sat_fix.hpp"
#include "vision_msgs/msg/detection3_d_array.hpp"
#include "easynav_common/types/NavState.hpp"
#include "easynav_sensors/types/DetectionsPerception.hpp"
#include "easynav_sensors/types/GNSSPerception.hpp"
#include "easynav_sensors/types/IMUPerception.hpp"
#include "easynav_sensors/types/ImagePerception.hpp"
#include "easynav_sensors/types/OdometryPerception.hpp"
#include "easynav_sensors/types/PointPerception.hpp"

Include dependency graph for perception_handlers_tests.cpp:

Classes
class	PerceptionHandlersTest

Functions
	TEST_F (PerceptionHandlersTest, AnOwningViewSkipsInvalidAndEmptyPerceptions)
	TEST_F (PerceptionHandlersTest, AnUndecodableImageIsMarkedInvalid)
	TEST_F (PerceptionHandlersTest, APointPerceptionConvertsToAPointCloud2)
	TEST_F (PerceptionHandlersTest, CollapsingFixesTheGivenAxes)
	TEST_F (PerceptionHandlersTest, DetectionsReachNavStateAndTriggerOnce)
	TEST_F (PerceptionHandlersTest, EachHandlerRejectsOtherMessageTypes)
	TEST_F (PerceptionHandlersTest, GnssMessagesReachNavStateAndTriggerOnce)
	TEST_F (PerceptionHandlersTest, ImagesReachNavStateAndTriggerOnce)
	TEST_F (PerceptionHandlersTest, ImuMessagesReachNavStateAndTriggerOnce)
	TEST_F (PerceptionHandlersTest, OdometryCanBeStoredUnderAnotherKey)
	TEST_F (PerceptionHandlersTest, OdometryIsStoredAsAnOdometryMessage)
	TEST_F (PerceptionHandlersTest, PerceptionsCopyEverything)
	TEST_F (PerceptionHandlersTest, TheLatestPointPerceptionStampIsTheNewest)
	TEST_F (PerceptionHandlersTest, TheLatestStampIsTheNewestOne)
	TEST_F (PerceptionHandlersTest, ThePointHandlerRejectsOtherMessageTypes)

Detailed Description

The perception handlers other than points (IMU, GNSS, odometry, detections, image): they reject wrong types, store each message in NavState, trigger once per message, and their perceptions copy, print and report their latest stamp.

Function Documentation

TEST_F() [1/15]

TEST_F	(	PerceptionHandlersTest	,
		AnOwningViewSkipsInvalidAndEmptyPerceptions	)

TEST_F() [2/15]

TEST_F	(	PerceptionHandlersTest	,
		AnUndecodableImageIsMarkedInvalid	)

TEST_F() [3/15]

TEST_F	(	PerceptionHandlersTest	,
		APointPerceptionConvertsToAPointCloud2	)

TEST_F() [4/15]

TEST_F	(	PerceptionHandlersTest	,
		CollapsingFixesTheGivenAxes	)

TEST_F() [5/15]

TEST_F	(	PerceptionHandlersTest	,
		DetectionsReachNavStateAndTriggerOnce	)

TEST_F() [6/15]

TEST_F	(	PerceptionHandlersTest	,
		EachHandlerRejectsOtherMessageTypes	)

TEST_F() [7/15]

TEST_F	(	PerceptionHandlersTest	,
		GnssMessagesReachNavStateAndTriggerOnce	)

TEST_F() [8/15]

TEST_F	(	PerceptionHandlersTest	,
		ImagesReachNavStateAndTriggerOnce	)

TEST_F() [9/15]

TEST_F	(	PerceptionHandlersTest	,
		ImuMessagesReachNavStateAndTriggerOnce	)

TEST_F() [10/15]

TEST_F	(	PerceptionHandlersTest	,
		OdometryCanBeStoredUnderAnotherKey	)

TEST_F() [11/15]

TEST_F	(	PerceptionHandlersTest	,
		OdometryIsStoredAsAnOdometryMessage	)

TEST_F() [12/15]

TEST_F	(	PerceptionHandlersTest	,
		PerceptionsCopyEverything	)

TEST_F() [13/15]

TEST_F	(	PerceptionHandlersTest	,
		TheLatestPointPerceptionStampIsTheNewest	)

TEST_F() [14/15]

TEST_F	(	PerceptionHandlersTest	,
		TheLatestStampIsTheNewestOne	)

TEST_F() [15/15]

TEST_F	(	PerceptionHandlersTest	,
		ThePointHandlerRejectsOtherMessageTypes	)