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feat(goal_planner): dense goal candidate sampling in BusStopArea (#8795)
Signed-off-by: Mamoru Sobue <[email protected]>
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planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.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. | ||
|
|
||
| #include <ament_index_cpp/get_package_share_directory.hpp> | ||
| #include <autoware/behavior_path_goal_planner_module/util.hpp> | ||
| #include <autoware/route_handler/route_handler.hpp> | ||
| #include <autoware_lanelet2_extension/utility/query.hpp> | ||
| #include <autoware_test_utils/autoware_test_utils.hpp> | ||
|
|
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| #include <gtest/gtest.h> | ||
|
|
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| class TestUtilWithMap : public ::testing::Test | ||
| { | ||
| protected: | ||
| void SetUp() override | ||
| { | ||
| rclcpp::init(0, nullptr); | ||
| // parameters | ||
| auto node_options = rclcpp::NodeOptions{}; | ||
| node_options.arguments(std::vector<std::string>{ | ||
| "--ros-args", "--params-file", | ||
| ament_index_cpp::get_package_share_directory("autoware_test_utils") + | ||
| "/config/test_vehicle_info.param.yaml"}); | ||
| auto node = rclcpp::Node::make_shared("test", node_options); | ||
| vehicle_info = autoware::vehicle_info_utils::VehicleInfoUtils(*node).getVehicleInfo(); | ||
|
|
||
| // lanelet map | ||
| const std::string shoulder_map_path = autoware::test_utils::get_absolute_path_to_lanelet_map( | ||
| "autoware_behavior_path_planner_common", "road_shoulder/lanelet2_map.osm"); | ||
| const auto map_bin_msg = autoware::test_utils::make_map_bin_msg(shoulder_map_path, 0.5); | ||
|
|
||
| // load map | ||
| route_handler = std::make_shared<autoware::route_handler::RouteHandler>(map_bin_msg); | ||
| } | ||
|
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| void TearDown() override { rclcpp::shutdown(); } | ||
|
|
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| public: | ||
| std::shared_ptr<autoware::route_handler::RouteHandler> route_handler; | ||
| autoware::vehicle_info_utils::VehicleInfo vehicle_info; | ||
| }; | ||
|
|
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| TEST_F(TestUtilWithMap, getBusStopAreaPolygons) | ||
| { | ||
| const auto lanes = lanelet::utils::query::laneletLayer(route_handler->getLaneletMapPtr()); | ||
| const auto shoulder_lanes = lanelet::utils::query::shoulderLanelets(lanes); | ||
| const auto bus_stop_area_polygons = | ||
| autoware::behavior_path_planner::goal_planner_utils::getBusStopAreaPolygons(shoulder_lanes); | ||
| EXPECT_EQ(bus_stop_area_polygons.size(), 2); | ||
| } | ||
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| TEST_F(TestUtilWithMap, isWithinAreas) | ||
| { | ||
| const auto lanes = lanelet::utils::query::laneletLayer(route_handler->getLaneletMapPtr()); | ||
| const auto shoulder_lanes = lanelet::utils::query::shoulderLanelets(lanes); | ||
| const auto bus_stop_area_polygons = | ||
| autoware::behavior_path_planner::goal_planner_utils::getBusStopAreaPolygons(shoulder_lanes); | ||
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| const auto footprint = vehicle_info.createFootprint(); | ||
| const geometry_msgs::msg::Pose baselink_pose = | ||
| geometry_msgs::build<geometry_msgs::msg::Pose>() | ||
| .position( | ||
| geometry_msgs::build<geometry_msgs::msg::Point>().x(273.102814).y(402.194794).z(0.0)) | ||
| .orientation( | ||
| geometry_msgs::build<geometry_msgs::msg::Quaternion>().x(0.0).y(0.0).z(0.707390).w( | ||
| 0.706824)); | ||
| const auto baselink_footprint = autoware::universe_utils::transformVector( | ||
| footprint, autoware::universe_utils::pose2transform(baselink_pose)); | ||
| EXPECT_EQ( | ||
| autoware::behavior_path_planner::goal_planner_utils::isWithinAreas( | ||
| baselink_footprint, bus_stop_area_polygons), | ||
| true); | ||
| } |