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fix(tier4_autoware_utils): fix build error #296

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merged 4 commits into from
Mar 1, 2023
Merged

fix(tier4_autoware_utils): fix build error #296

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777b293
fix(tier4_autoware_utils): build_error
h-ohta Mar 1, 2023
47c8b45
fix test code
h-ohta Mar 1, 2023
70275f3
fix test code
h-ohta Mar 1, 2023
e5760be
fix test code
h-ohta Mar 1, 2023
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2 changes: 1 addition & 1 deletion common/tier4_autoware_utils/include/tier4_autoware_utils/trajectory/trajectory.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ std::vector<geometry_msgs::msg::Point> removeOverlapPoints(const T & points, con
const auto p_next = tier4_autoware_utils::getPoint(dst.at(i + 1));
const Eigen::Vector3d v{p_next.x - p.x, p_next.y - p.y, 0.0};
if (v.norm() < eps) {
dst.erase(dst.begin() + i + 1);
dst.erase(dst.begin() + static_cast<int32_t>(i) + 1);
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} else {
++i;
}
Expand Down
36 changes: 21 additions & 15 deletions common/tier4_autoware_utils/test/src/trajectory/test_trajectory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -107,7 +107,7 @@ TEST(trajectory, searchZeroVelocityIndex)
using tier4_autoware_utils::searchZeroVelocityIndex;

// Empty
EXPECT_THROW(searchZeroVelocityIndex(Trajectory{}.points), std::invalid_argument);
EXPECT_FALSE(searchZeroVelocityIndex(Trajectory{}.points));

// No zero velocity point
{
Expand Down Expand Up @@ -229,8 +229,7 @@ TEST(trajectory, findNearestIndex_Pose_NoThreshold)
const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);

// Empty
EXPECT_THROW(
findNearestIndex(Trajectory{}.points, geometry_msgs::msg::Pose{}, {}), std::invalid_argument);
EXPECT_FALSE(findNearestIndex(Trajectory{}.points, geometry_msgs::msg::Pose{}, {}));

// Start point
EXPECT_EQ(*findNearestIndex(traj.points, createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)), 0U);
Expand Down Expand Up @@ -343,26 +342,30 @@ TEST(trajectory, calcLongitudinalOffsetToSegment_StraightTrajectory)
using tier4_autoware_utils::calcLongitudinalOffsetToSegment;

const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);
const bool throw_exception = true;

// Empty
EXPECT_THROW(
calcLongitudinalOffsetToSegment(Trajectory{}.points, {}, geometry_msgs::msg::Point{}),
calcLongitudinalOffsetToSegment(
Trajectory{}.points, {}, geometry_msgs::msg::Point{}, throw_exception),
std::invalid_argument);

// Out of range
EXPECT_THROW(
calcLongitudinalOffsetToSegment(traj.points, -1, geometry_msgs::msg::Point{}),
calcLongitudinalOffsetToSegment(traj.points, -1, geometry_msgs::msg::Point{}, throw_exception),
std::out_of_range);
EXPECT_THROW(
calcLongitudinalOffsetToSegment(
traj.points, traj.points.size() - 1, geometry_msgs::msg::Point{}),
traj.points, traj.points.size() - 1, geometry_msgs::msg::Point{}, throw_exception),
std::out_of_range);

// Same close points in trajectory
{
const auto invalid_traj = generateTestTrajectory<Trajectory>(10, 0.0);
const auto p = createPoint(3.0, 0.0, 0.0);
EXPECT_THROW(calcLongitudinalOffsetToSegment(invalid_traj.points, 3, p), std::runtime_error);
EXPECT_THROW(
calcLongitudinalOffsetToSegment(invalid_traj.points, 3, p, throw_exception),
std::runtime_error);
}

// Same point
Expand Down Expand Up @@ -401,23 +404,26 @@ TEST(trajectory, calcLateralOffset)
using tier4_autoware_utils::calcLateralOffset;

const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);
const bool throw_exception = true;

// Empty
EXPECT_THROW(
calcLateralOffset(Trajectory{}.points, geometry_msgs::msg::Point{}), std::invalid_argument);
calcLateralOffset(Trajectory{}.points, geometry_msgs::msg::Point{}, throw_exception),
std::invalid_argument);

// Trajectory size is 1
{
const auto one_point_traj = generateTestTrajectory<Trajectory>(1, 1.0);
EXPECT_THROW(
calcLateralOffset(one_point_traj.points, geometry_msgs::msg::Point{}), std::out_of_range);
calcLateralOffset(one_point_traj.points, geometry_msgs::msg::Point{}, throw_exception),
std::runtime_error);
}

// Same close points in trajectory
{
const auto invalid_traj = generateTestTrajectory<Trajectory>(10, 0.0);
const auto p = createPoint(3.0, 0.0, 0.0);
EXPECT_THROW(calcLateralOffset(invalid_traj.points, p), std::runtime_error);
EXPECT_THROW(calcLateralOffset(invalid_traj.points, p, throw_exception), std::runtime_error);
}

// Point on trajectory
Expand Down Expand Up @@ -452,7 +458,7 @@ TEST(trajectory, calcSignedArcLengthFromIndexToIndex)
const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);

// Empty
EXPECT_THROW(calcSignedArcLength(Trajectory{}.points, {}, {}), std::invalid_argument);
EXPECT_DOUBLE_EQ(calcSignedArcLength(Trajectory{}.points, {}, {}), 0.0);

// Out of range
EXPECT_THROW(calcSignedArcLength(traj.points, -1, 1), std::out_of_range);
Expand All @@ -475,7 +481,7 @@ TEST(trajectory, calcSignedArcLengthFromPointToIndex)
const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);

// Empty
EXPECT_THROW(calcSignedArcLength(Trajectory{}.points, {}, {}), std::invalid_argument);
EXPECT_DOUBLE_EQ(calcSignedArcLength(Trajectory{}.points, {}, {}), 0.0);

// Same point
EXPECT_NEAR(calcSignedArcLength(traj.points, createPoint(3.0, 0.0, 0.0), 3), 0, epsilon);
Expand Down Expand Up @@ -504,7 +510,7 @@ TEST(trajectory, calcSignedArcLengthFromIndexToPoint)
const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);

// Empty
EXPECT_THROW(calcSignedArcLength(Trajectory{}.points, {}, {}), std::invalid_argument);
EXPECT_DOUBLE_EQ(calcSignedArcLength(Trajectory{}.points, {}, {}), 0.0);

// Same point
EXPECT_NEAR(calcSignedArcLength(traj.points, 3, createPoint(3.0, 0.0, 0.0)), 0, epsilon);
Expand Down Expand Up @@ -533,7 +539,7 @@ TEST(trajectory, calcSignedArcLengthFromPointToPoint)
const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);

// Empty
EXPECT_THROW(calcSignedArcLength(Trajectory{}.points, {}, {}), std::invalid_argument);
EXPECT_DOUBLE_EQ(calcSignedArcLength(Trajectory{}.points, {}, {}), 0.0);

// Same point
{
Expand Down Expand Up @@ -596,7 +602,7 @@ TEST(trajectory, calcArcLength)
const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);

// Empty
EXPECT_THROW(calcArcLength(Trajectory{}.points), std::invalid_argument);
EXPECT_DOUBLE_EQ(calcArcLength(Trajectory{}.points), 0.0);

// Whole Length
EXPECT_NEAR(calcArcLength(traj.points), 9.0, epsilon);
Expand Down
4 changes: 2 additions & 2 deletions control/trajectory_follower/test/test_longitudinal_controller_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,8 +60,8 @@ TEST(TestLongitudinalControllerUtils, calcStopDistance) {
point.pose.position.y = 0.0;
point.longitudinal_velocity_mps = 0.0;
traj.points.push_back(point);
EXPECT_THROW(
longitudinal_utils::calcStopDistance(current_pose, traj, max_dist, max_yaw), std::out_of_range);
EXPECT_DOUBLE_EQ(
longitudinal_utils::calcStopDistance(current_pose, traj, max_dist, max_yaw), 0.0);
traj.points.clear();
// non stopping trajectory: stop distance = trajectory length
point.pose.position.x = 0.0;
Expand Down